| <?xml version='1.0' encoding='UTF-8'?> |
| <robot name="Dex5_URDF_R"> |
| <mujoco> |
| <compiler meshdir="meshes" discardvisual="false"/> |
| </mujoco> |
| <link name="base_link00"> |
| <inertial> |
| <origin xyz="-0.023027 0.027982 -0.017178" rpy="0 0 0"/> |
| <mass value="0.685702"/> |
| <inertia ixx="7.78969326E-04" ixy="-3.3932999E-05" ixz="-8.537493E-06" iyy="6.11017846E-04" iyz="5.5013726E-05" izz="1.061484896E-03"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/base_link00.STL"/> |
| </geometry> |
| <material name="unnamed_material_0"> |
| <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 0.7"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/base_link00.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <link name="Link_11R"> |
| <inertial> |
| <origin xyz="-0.008418 0.000123 -0.003247" rpy="0 0 0"/> |
| <mass value="0.02363"/> |
| <inertia ixx="2.641049E-06" ixy="1.9442E-08" ixz="1.8132E-07" iyy="3.607134E-06" iyz="5.837E-09" izz="3.860781E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_11R.STL"/> |
| </geometry> |
| <material name="unnamed_material_1"> |
| <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_11R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Yaw_11R" type="revolute"> |
| <origin xyz="0 0 0.0143500000000242" rpy="0 0 0"/> |
| <parent link="base_link00"/> |
| <child link="Link_11R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-0.5867" upper="0.6803" effort="0.93" velocity="4.18"/> |
| </joint> |
| <link name="Link_12R"> |
| <inertial> |
| <origin xyz="0.014668 0.000013 -0.004099" rpy="0 0 0"/> |
| <mass value="0.015809"/> |
| <inertia ixx="3.066476E-06" ixy="-4.497E-9" ixz="2.22721E-7" iyy="4.049699E-06" iyz="1.404E-9" izz="3.627081E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_12R.STL"/> |
| </geometry> |
| <material name="unnamed_material_2"> |
| <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_12R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Roll_12R" type="revolute"> |
| <origin xyz="-1.06041019916053E-05 0 0" rpy="1.5707963267949 0 0"/> |
| <parent link="Link_11R"/> |
| <child link="Link_12R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.8151" effort="0.93" velocity="4.18"/> |
| </joint> |
| <link name="Link_13R"> |
| <inertial> |
| <origin xyz="0.018557 -0.006933 0.000159" rpy="0 0 0"/> |
| <mass value="0.06674"/> |
| <inertia ixx="9.105565E-06" ixy="-1.948696E-06" ixz="2.9291E-08" iyy="2.2925394E-05" iyz="-0.816E-09" izz="2.3878954E-05"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_13R.STL"/> |
| </geometry> |
| <material name="unnamed_material_3"> |
| <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_13R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_13R" type="revolute"> |
| <origin xyz="0.0335000000000025 0 -0.00599999999999658" rpy="-1.57079632688918 -1.55083872381532E-05 0"/> |
| <parent link="Link_12R"/> |
| <child link="Link_13R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.765226" effort="0.93" velocity="4.18"/> |
| </joint> |
| <link name="Link_14R"> |
| <inertial> |
| <origin xyz="0.028085 0.003322 0.000472" rpy="0 0 0"/> |
| <mass value="0.020073"/> |
| <inertia ixx="1.93782E-06" ixy="-1.69818E-07" ixz="1.24848E-07" iyy="6.083181E-06" iyz="2.0791E-08" izz="5.614839E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_14R.STL"/> |
| </geometry> |
| <material name="unnamed_material_4"> |
| <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_14R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_14R" type="revolute"> |
| <origin xyz="0.036609 -0.0053654 0" rpy="0 0 0"/> |
| <parent link="Link_13R"/> |
| <child link="Link_14R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.6406" effort="0.93" velocity="4.18"/> |
| </joint> |
| <link name="Link_21R"> |
| <inertial> |
| <origin xyz="0.007826 -0.000005 -0.004125" rpy="0 0 0"/> |
| <mass value="0.004497"/> |
| <inertia ixx="8.9889E-08" ixy="-4.9E-11" ixz="3.7079E-08" iyy="1.37514E-07" iyz="-1.18E-10" izz="9.6125E-08"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_21R.STL"/> |
| </geometry> |
| <material name="unnamed_material_5"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_21R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Roll_21R" type="revolute"> |
| <origin xyz="0.01 0.073143 -0.0034702" rpy="0 0 1.5708"/> |
| <parent link="base_link00"/> |
| <child link="Link_21R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-0.38397" upper="0.38397" effort="0" velocity="0.76794"/> |
| </joint> |
| <link name="Link_22R"> |
| <inertial> |
| <origin xyz="0.021242 -0.005936 0.000059" rpy="0 0 0"/> |
| <mass value="0.017982"/> |
| <inertia ixx="1.206794E-06" ixy="-1.30843E-07" ixz="-2.335E-09" iyy="4.081109E-06" iyz="1.219E-09" izz="4.370124E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_22R.STL"/> |
| </geometry> |
| <material name="unnamed_material_6"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_22R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_22R" type="revolute"> |
| <origin xyz="0.00419999999999998 0 0" rpy="1.5707963267949 0 0"/> |
| <parent link="Link_21R"/> |
| <child link="Link_22R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.5707963" effort="0" velocity="3.1415926"/> |
| </joint> |
| <link name="Link_23R"> |
| <inertial> |
| <origin xyz="0.011393 -0.005777 0.000001" rpy="0 0 0"/> |
| <mass value="0.012776"/> |
| <inertia ixx="6.38115E-07" ixy="5.5121E-08" ixz="-4.97E-10" iyy="6.31505E-07" iyz="-1.43E-10" izz="8.2943E-07"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_23R.STL"/> |
| </geometry> |
| <material name="unnamed_material_7"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_23R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_23R" type="revolute"> |
| <origin xyz="0.039999999999998 0 0" rpy="0 0 0"/> |
| <parent link="Link_22R"/> |
| <child link="Link_23R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.684242699" effort="0" velocity="3.368485398"/> |
| </joint> |
| <link name="Link_24R"> |
| <inertial> |
| <origin xyz="0.009354 -0.004824 0.000072" rpy="0 0 0"/> |
| <mass value="0.00639891165893413"/> |
| <inertia ixx="4.9531E-07" ixy="-1.09285E-07" ixz="8.84E-10" iyy="1.466772E-06" iyz="4.47E-10" izz="1.448234E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_24R.STL"/> |
| </geometry> |
| <material name="unnamed_material_8"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_24R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_24R" type="revolute"> |
| <origin xyz="0.0209845918681 0.000804303505750905 0" rpy="0 0 0"/> |
| <parent link="Link_23R"/> |
| <child link="Link_24R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.396263378" effort="0" velocity="2.792526756"/> |
| </joint> |
| <link name="Link_31R"> |
| <inertial> |
| <origin xyz="0.007826 -0.000005 -0.004125" rpy="0 0 0"/> |
| <mass value="0.004497"/> |
| <inertia ixx="8.9889E-08" ixy="-4.9E-11" ixz="3.7079E-08" iyy="1.37514E-07" iyz="-1.18E-10" izz="9.6125E-08"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_31R.STL"/> |
| </geometry> |
| <material name="unnamed_material_9"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_31R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Roll_31R" type="revolute"> |
| <origin xyz="-0.012 0.077143 -0.0034702" rpy="0 0 1.5708"/> |
| <parent link="base_link00"/> |
| <child link="Link_31R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-0.38397" upper="0.38397" effort="0" velocity="0.76794"/> |
| </joint> |
| <link name="Link_32R"> |
| <inertial> |
| <origin xyz="0.021242 -0.005936 0.000059" rpy="0 0 0"/> |
| <mass value="0.017982"/> |
| <inertia ixx="1.206794E-06" ixy="-1.30843E-07" ixz="-2.335E-09" iyy="4.081109E-06" iyz="1.219E-09" izz="4.370124E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_32R.STL"/> |
| </geometry> |
| <material name="unnamed_material_10"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_32R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_32R" type="revolute"> |
| <origin xyz="0.00419999999999998 0 0" rpy="1.5707963267949 0 0"/> |
| <parent link="Link_31R"/> |
| <child link="Link_32R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.5707963" effort="0" velocity="3.1415926"/> |
| </joint> |
| <link name="Link_33R"> |
| <inertial> |
| <origin xyz="0.011393 -0.005777 0.000001" rpy="0 0 0"/> |
| <mass value="0.012776"/> |
| <inertia ixx="6.38115E-07" ixy="5.5121E-08" ixz="-4.97E-10" iyy="6.31505E-07" iyz="-1.43E-10" izz="8.2943E-07"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_33R.STL"/> |
| </geometry> |
| <material name="unnamed_material_11"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_33R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_33R" type="revolute"> |
| <origin xyz="0.039999999999998 0 0" rpy="0 0 0"/> |
| <parent link="Link_32R"/> |
| <child link="Link_33R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.684242699" effort="0" velocity="3.368485398"/> |
| </joint> |
| <link name="Link_34R"> |
| <inertial> |
| <origin xyz="0.009354 -0.004824 0.000072" rpy="0 0 0"/> |
| <mass value="0.00639891165893413"/> |
| <inertia ixx="4.9531E-07" ixy="-1.09285E-07" ixz="8.84E-10" iyy="1.466772E-06" iyz="4.47E-10" izz="1.448234E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_34R.STL"/> |
| </geometry> |
| <material name="unnamed_material_12"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_34R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_34R" type="revolute"> |
| <origin xyz="0.0209845918681 0.000804303505750906 0" rpy="0 0 0"/> |
| <parent link="Link_33R"/> |
| <child link="Link_34R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.396263378" effort="0" velocity="2.792526756"/> |
| </joint> |
| <link name="Link_41R"> |
| <inertial> |
| <origin xyz="0.007826 -0.000005 -0.004125" rpy="0 0 0"/> |
| <mass value="0.004497"/> |
| <inertia ixx="8.9889E-08" ixy="-4.9E-11" ixz="3.7079E-08" iyy="1.37514E-07" iyz="-1.18E-10" izz="9.6125E-08"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_41R.STL"/> |
| </geometry> |
| <material name="unnamed_material_13"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_41R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Roll_41R" type="revolute"> |
| <origin xyz="-0.034 0.073143 -0.0034702" rpy="0 0 1.5708"/> |
| <parent link="base_link00"/> |
| <child link="Link_41R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-0.38397" upper="0.38397" effort="0" velocity="0"/> |
| </joint> |
| <link name="Link_42R"> |
| <inertial> |
| <origin xyz="0.021242 -0.005936 0.000059" rpy="0 0 0"/> |
| <mass value="0.017982"/> |
| <inertia ixx="1.206794E-06" ixy="-1.30843E-07" ixz="-2.335E-09" iyy="4.081109E-06" iyz="1.219E-09" izz="4.370124E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_42R.STL"/> |
| </geometry> |
| <material name="unnamed_material_14"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_42R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_42R" type="revolute"> |
| <origin xyz="0.00419999999999998 0 0" rpy="1.5707963267949 0 0"/> |
| <parent link="Link_41R"/> |
| <child link="Link_42R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.5708" effort="0" velocity="3.1415926"/> |
| </joint> |
| <link name="Link_43R"> |
| <inertial> |
| <origin xyz="0.011393 -0.005777 0.000001" rpy="0 0 0"/> |
| <mass value="0.012776"/> |
| <inertia ixx="6.38115E-07" ixy="5.5121E-08" ixz="-4.97E-10" iyy="6.31505E-07" iyz="-1.43E-10" izz="8.2943E-07"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_43R.STL"/> |
| </geometry> |
| <material name="unnamed_material_15"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_43R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_43R" type="revolute"> |
| <origin xyz="0.039999999999998 0 0" rpy="0 0 0"/> |
| <parent link="Link_42R"/> |
| <child link="Link_43R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.6842" effort="0" velocity="3.368485398"/> |
| </joint> |
| <link name="Link_44R"> |
| <inertial> |
| <origin xyz="0.009354 -0.004824 0.000072" rpy="0 0 0"/> |
| <mass value="0.00639891165893413"/> |
| <inertia ixx="4.9531E-07" ixy="-1.09285E-07" ixz="8.84E-10" iyy="1.466772E-06" iyz="4.47E-10" izz="1.448234E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_44R.STL"/> |
| </geometry> |
| <material name="unnamed_material_16"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_44R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_44R" type="revolute"> |
| <origin xyz="0.0209845918681 0.000804303505750905 0" rpy="0 0 0"/> |
| <parent link="Link_43R"/> |
| <child link="Link_44R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.3963" effort="0" velocity="2.7925"/> |
| </joint> |
| <link name="Link_51R"> |
| <inertial> |
| <origin xyz="0.007826 -0.000005 -0.004125" rpy="0 0 0"/> |
| <mass value="0.004497"/> |
| <inertia ixx="8.9889E-08" ixy="-4.9E-11" ixz="3.7079E-08" iyy="1.37514E-07" iyz="-1.18E-10" izz="9.6125E-08"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_51R.STL"/> |
| </geometry> |
| <material name="unnamed_material_17"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_51R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Roll_51R" type="revolute"> |
| <origin xyz="-0.0559999999999967 0.0691433586578331 -0.00347021644327154" rpy="0 0 1.57079632679486"/> |
| <parent link="base_link00"/> |
| <child link="Link_51R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-0.38397" upper="0.38397" effort="0" velocity="0"/> |
| </joint> |
| <link name="Link_52R"> |
| <inertial> |
| <origin xyz="0.021242 -0.005936 0.000059" rpy="0 0 0"/> |
| <mass value="0.017982"/> |
| <inertia ixx="1.206794E-06" ixy="-1.30843E-07" ixz="-2.335E-09" iyy="4.081109E-06" iyz="1.219E-09" izz="4.370124E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_52R.STL"/> |
| </geometry> |
| <material name="unnamed_material_18"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_52R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_52R" type="revolute"> |
| <origin xyz="0.00419999999999998 0 0" rpy="1.5707963267949 0 0"/> |
| <parent link="Link_51R"/> |
| <child link="Link_52R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.5708" effort="0" velocity="3.1416"/> |
| </joint> |
| <link name="Link_53R"> |
| <inertial> |
| <origin xyz="0.011393 -0.005777 0.000001" rpy="0 0 0"/> |
| <mass value="0.012776"/> |
| <inertia ixx="6.38115E-07" ixy="5.5121E-08" ixz="-4.97E-10" iyy="6.31505E-07" iyz="-1.43E-10" izz="8.2943E-07"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_53R.STL"/> |
| </geometry> |
| <material name="unnamed_material_19"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_53R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_53R" type="revolute"> |
| <origin xyz="0.039999999999998 0 0" rpy="0 0 0"/> |
| <parent link="Link_52R"/> |
| <child link="Link_53R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.6842" effort="0" velocity="3.3685"/> |
| </joint> |
| <link name="Link_54R"> |
| <inertial> |
| <origin xyz="0.009354 -0.004824 0.000072" rpy="0 0 0"/> |
| <mass value="0.00639891165893413"/> |
| <inertia ixx="4.9531E-07" ixy="-1.09285E-07" ixz="8.84E-10" iyy="1.466772E-06" iyz="4.47E-10" izz="1.448234E-06"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_54R.STL"/> |
| </geometry> |
| <material name="unnamed_material_20"> |
| <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex5_1/Dex5-URDF-R/meshes/Link_54R.STL"/> |
| </geometry> |
| </collision> |
| </link> |
| <joint name="Pitch_54R" type="revolute"> |
| <origin xyz="0.0209845918681 0.000804303505750905 0" rpy="0 0 0"/> |
| <parent link="Link_53R"/> |
| <child link="Link_54R"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.3963" effort="0" velocity="2.7925"/> |
| </joint> |
| </robot> |
|
|
