Robots/LeapHand/leap.urdf

<?xml version="1.0" encoding="UTF-8"?>
<robot name="leap">

<link name="palm_lower">
<visual>
<origin xyz="-0.020095249652862544332 0.025757756134899473244 -0.034722403578460216134" rpy="0 -0 0" />
<geometry>
<mesh filename="./meshes/palm_lower.stl"/>
</geometry>
<material name="palm_lower_material">
<color rgba="0.60392156862745094426 0.14901960784313725283 0.14901960784313725283 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.020095249652862544332 0.025757756134899473244 -0.034722403578460216134" rpy="0 -0 0" />
<geometry>
<mesh filename="./meshes/palm_lower.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.237" />
<inertia ixx="0.000354094" ixy="-0.000001193"  ixz="-0.000002445" iyy="0.000260915" iyz="-0.000002905" izz="0.000529257" />
</inertial>
</link>

<link name="mcp_joint">
<visual>
<origin xyz="0.0084069022611744960438 0.0077662438597169954416 0.014657354985032912051" rpy="1.6375789613220999807e-15 -1.0210473302491019535e-30 1.7177968783327987474e-31" />
<geometry>
<mesh filename="./meshes/mcp_joint.stl"/>
</geometry>
<material name="mcp_joint_material">
<color rgba="0.86666666666666669627 0.86666666666666669627 0.050980392156862744391 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0084069022611744960438 0.0077662438597169954416 0.014657354985032912051" rpy="1.6375789613220999807e-15 -1.0210473302491019535e-30 1.7177968783327987474e-31" />
<geometry>
<mesh filename="./meshes/mcp_joint.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.044" />
<inertia ixx="0.000011499" ixy="0.000003049"  ixz="0.000000121" iyy="0.000007796" iyz="0.000000112" izz="0.000014759" />
</inertial>
</link>

<link name="pip">
<visual>
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<geometry>
<mesh filename="./meshes/pip.stl"/>
</geometry>
<material name="pip_material">
<color rgba="0.74901960784313725839 0.74901960784313725839 0.74901960784313725839 1.0"/>
</material>
</visual>
<collision>
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<geometry>
<mesh filename="./meshes/pip.stl"/>
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</collision>
<inertial>
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</inertial>
</link>

<link name="dip">
<visual>
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<geometry>
<mesh filename="./meshes/dip.stl"/>
</geometry>
<material name="dip_material">
<color rgba="0.86666666666666669627 0.86666666666666669627 0.050980392156862744391 1.0"/>
</material>
</visual>
<collision>
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<geometry>
<mesh filename="./meshes/dip.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
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</inertial>
</link>

<link name="fingertip">
<visual>
<origin xyz="0.013286424108533503169 -0.0061142383865419869249 0.014499999999999497666" rpy="3.141592653589793116 1.1993117970061734707e-33 4.4395481053923607589e-32" />
<geometry>
<mesh filename="./meshes/fingertip.obj"/>
</geometry>
<material name="fingertip_material">
<color rgba="0.86666666666666669627 0.86666666666666669627 0.050980392156862744391 1.0"/>
</material>
</visual>
<collision>
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<geometry>
<mesh filename="./meshes/fingertip_collision.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="0.000003368" ixy="0.000000115"  ixz="0" iyy="0.000001556" iyz="0" izz="0.000002863" />
</inertial>
</link>

<joint name="j0" type="revolute">
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<parent link="mcp_joint" />
<child link="pip" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-1.047" upper = "1.047"/>
<joint_properties friction="0.0"/>
</joint>

<joint name="j1" type="revolute">
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<parent link="palm_lower" />
<child link="mcp_joint" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.314" upper = "2.23"/>
<joint_properties friction="0.0"/>
</joint>

<joint name="j2" type="revolute">
<origin xyz="0.01499999999999996822 0.014299999999999904801 -0.012999999999999824196" rpy="1.5707963267948958919 -1.570796326794896336 0" />
<parent link="pip" />
<child link="dip" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.506" upper = "1.885"/>  
<joint_properties friction="0.0"/>
</joint>

<joint name="j3" type="revolute">
<origin xyz="-4.0880582495572692636e-09 -0.036100004210367367397 0.00020000000000007858714" rpy="4.5935029425113685044e-17 -2.8730071914463794583e-16 4.4395481053923607589e-32" />
<parent link="dip" />
<child link="fingertip" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.366" upper = "2.042"/>   
<joint_properties friction="0.0"/>
</joint>

<link name="mcp_joint_2">
<visual>
<origin xyz="0.0084069022611744960438 0.0077662438597169954416 0.014657354985032913786" rpy="1.6375789613220999807e-15 -1.0076465469034000467e-30 2.1209300131419907151e-61" />
<geometry>
<mesh filename="./meshes/mcp_joint.stl"/>
</geometry>
<material name="mcp_joint_material">
<color rgba="0.86666666666666669627 0.86666666666666669627 0.050980392156862744391 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.0084069022611744960438 0.0077662438597169954416 0.014657354985032913786" rpy="1.6375789613220999807e-15 -1.0076465469034000467e-30 2.1209300131419907151e-61" />
<geometry>
<mesh filename="./meshes/mcp_joint.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.044" />
<inertia ixx="0.000011499" ixy="0.000003049"  ixz="0.000000121" iyy="0.000007796" iyz="0.000000112" izz="0.000014759" />
</inertial>
</link>

<link name="pip_2">
<visual>
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<geometry>
<mesh filename="./meshes/pip.stl"/>
</geometry>
<material name="pip_material">
<color rgba="0.74901960784313725839 0.74901960784313725839 0.74901960784313725839 1.0"/>
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</visual>
<collision>
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<geometry>
<mesh filename="./meshes/pip.stl"/>
</geometry>
</collision>
<inertial>
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</link>

<link name="dip_2">
<visual>
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<geometry>
<mesh filename="./meshes/dip.stl"/>
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<material name="dip_material">
<color rgba="0.86666666666666669627 0.86666666666666669627 0.050980392156862744391 1.0"/>
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</visual>
<collision>
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<geometry>
<mesh filename="./meshes/dip.stl"/>
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</collision>
<inertial>
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</link>

<link name="fingertip_2">
<visual>
<origin xyz="0.01328642410853349623 -0.0061142383865420008027 0.014499999999999495931" rpy="3.141592653589793116 -4.3179597882835943107e-33 1.4408183216511868558e-31" />
<geometry>
<mesh filename="./meshes/fingertip.obj"/>
</geometry>
<material name="fingertip_material">
<color rgba="0.86666666666666669627 0.86666666666666669627 0.050980392156862744391 1.0"/>
</material>
</visual>
<collision>
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<geometry>
<mesh filename="./meshes/fingertip_collision.stl"/>
</geometry>
</collision>
<inertial>
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</link>

<joint name="j4" type="revolute">
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<parent link="mcp_joint_2" />
<child link="pip_2" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-1.047" upper = "1.047"/>
<joint_properties friction="0.0"/>
</joint>

<joint name="j5" type="revolute">
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<parent link="palm_lower" />
<child link="mcp_joint_2" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.314" upper = "2.23"/>
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</joint>

<joint name="j6" type="revolute">
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<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.506" upper = "1.885"/>  
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</joint>

<joint name="j7" type="revolute">
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<parent link="dip_2" />
<child link="fingertip_2" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.366" upper = "2.042"/>   
<joint_properties friction="0.0"/>
</joint>

<link name="mcp_joint_3">
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<material name="mcp_joint_material">
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<link name="pip_3">
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<link name="dip_3">
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<link name="fingertip_3">
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<material name="fingertip_material">
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<joint name="j9" type="revolute">
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<joint name="j10" type="revolute">
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<joint name="j11" type="revolute">
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<link name="pip_4">
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<link name="thumb_pip">
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<material name="thumb_pip_material">
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<inertial>
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<link name="thumb_dip">
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</geometry>
<material name="thumb_dip_material">
<color rgba="0.86666666666666669627 0.86666666666666669627 0.050980392156862744391 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.043968715707239175439 0.057952952973709198625 -0.0086286764493694757122" rpy="1.9428902930940098942e-16 3.2751579226442200773e-15 1.1123758529657360012e-46" />
<geometry>
<mesh filename="./meshes/thumb_dip.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.038" />
<inertia ixx="0.000008474" ixy="0.000000241"  ixz="0.000000026" iyy="0.000003841" iyz="0.000000025" izz="0.000007679" />
</inertial>
</link>

<link name="thumb_fingertip">
<visual>
<origin xyz="0.062559538462667388381 0.078459682911396988469 0.048992911807332215068" rpy="4.3790577010156367543e-47 -3.3306690738754701143e-16 1.2042408677791935383e-46" />
<geometry>
<mesh filename="./meshes/thumb_fingertip.obj"/>
</geometry>
<material name="thumb_fingertip_material">
<color rgba="0.60392156862745094426 0.14901960784313725283 0.14901960784313725283 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.062559538462667388381 0.078459682911396988469 0.048992911807332215068" rpy="4.3790577010156367543e-47 -3.3306690738754701143e-16 1.2042408677791935383e-46" />
<geometry>
<mesh filename="./meshes/thumb_fingertip_collision.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.049" />
<inertia ixx="0.000020372" ixy="-0.000000489"  ixz="-0.00000003" iyy="0.000004336" iyz="-0.000000097" izz="0.000019845" />
</inertial>
</link>

<joint name="j12" type="revolute">
<origin xyz="-0.069395249652862533996 -0.0012422438651005258004 -0.021622403578460215601" rpy="-8.2381766464939424156e-17 1.5707963267948956698 0" />
<parent link="palm_lower" />
<child link="pip_4" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.349" upper = "2.094"/> 
<joint_properties friction="0.0"/>
</joint>

<joint name="j13" type="revolute">
<origin xyz="-2.7755575615628913511e-17 0.014300000000000005415 -0.013000000000000011546" rpy="1.5707963267948958919 -1.570796326794896336 0" />
<parent link="pip_4" />
<child link="thumb_pip" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-0.47" upper = "2.443"/> 
<joint_properties friction="0.0"/>
</joint>

<joint name="j14" type="revolute">
<origin xyz="0 0.014499999999999966041 -0.017000000000000053263" rpy="-1.570796326794896558 1.6050198443300131245e-46 -1.9721522630516624601e-31" />
<parent link="thumb_pip" />
<child link="thumb_dip" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-1.20" upper = "1.90"/> 
<joint_properties friction="0.0"/>
</joint>

<joint name="j15" type="revolute">
<origin xyz="-1.249000902703301108e-16 0.046599999999999863753 0.00019999999999997710581" rpy="1.5063958491491781023e-44 5.4234187233935260503e-31 3.141592653589793116" />
<parent link="thumb_dip" />
<child link="thumb_fingertip" />
<axis xyz="0 0 -1"/>
<limit effort="0.95" velocity="8.48" lower = "-1.34" upper = "1.88"/> 
<joint_properties friction="0.0"/>
</joint>

</robot>