Spaces:
Running
Running
| <robot name="mano"> | |
| <link name="world"> </link> | |
| <joint name="world_to_base" type="fixed"> | |
| <axis xyz="0 0 0"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <parent link="world"/> | |
| <child link="sliderBar"/> | |
| </joint> | |
| <link name="sliderBar"> | |
| <inertial> | |
| <mass value="0"/> | |
| <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> | |
| </inertial> | |
| </link> | |
| <!-- /home/xueyi/diffsim/dgrasp/rsc/mano --> | |
| <!-- | |
| Palm | |
| --> | |
| <!-- Palm --> | |
| <link name="palm"> | |
| <inertial> | |
| <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/> | |
| <mass value="0.25042"/> | |
| <inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/> | |
| </inertial> | |
| </link> | |
| <link name="link_palm_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_palm_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_palm_rx"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_palm_ry"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_palm_rz"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/palm_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- Hip joint --> | |
| <joint name="WRJ0x" type="prismatic"> | |
| <parent link="sliderBar"/> | |
| <child link="palm"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="100.0" /> | |
| <dynamics damping="10.0" friction="0.0001"/> | |
| </joint> | |
| <joint name="WRJ0y" type="prismatic"> | |
| <parent link="palm"/> | |
| <child link="link_palm_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="100.0" /> | |
| <dynamics damping="10.0" friction="0.0001"/> | |
| </joint> | |
| <joint name="WRJ0z" type="prismatic"> | |
| <parent link="link_palm_y"/> | |
| <child link="link_palm_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="100.0" /> | |
| <dynamics damping="10.0" friction="0.0001"/> | |
| </joint> | |
| <joint name="WRJ0rx" type="revolute"> | |
| <parent link="link_palm_z"/> | |
| <child link="link_palm_rx"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/> | |
| </joint> | |
| <joint name="WRJ0ry" type="revolute"> | |
| <parent link="link_palm_rx"/> | |
| <child link="link_palm_ry"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/> | |
| </joint> | |
| <joint name="WRJ0rz" type="revolute"> | |
| <parent link="link_palm_ry"/> | |
| <child link="link_palm_rz"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/> | |
| </joint> | |
| <!-- FF --> | |
| <link name="fffixed"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.0"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="Palm_FFJ2" type="fixed"> | |
| <parent link="link_palm_rz"/> | |
| <child link="fffixed"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| </joint> | |
| <link name="ffproximal"> | |
| <inertial> | |
| <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/> | |
| <mass value="0.00845"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_ff_pm_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_ff_pm_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/ffprox_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- FF2 proximal joint --> | |
| <joint name="FFJ2" type="revolute"> | |
| <parent link="fffixed"/> | |
| <child link="ffproximal"/> | |
| <origin xyz="-0.0880972 -0.00520036 0.020686"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="FFJ2_y" type="revolute"> | |
| <parent link="ffproximal"/> | |
| <child link="link_ff_pm_y"/> | |
| <origin xyz="0 0 0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/> | |
| </joint> | |
| <joint name="FFJ2_z" type="revolute"> | |
| <parent link="link_ff_pm_y"/> | |
| <child link="link_ff_pm_z"/> | |
| <origin xyz="0 0 0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="ffmiddle_fixed"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.0"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="ffmiddle"> | |
| <inertial> | |
| <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/> | |
| <mass value="0.00413"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_ff_md_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_ff_md_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/ffmiddle_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- FF1 joint --> | |
| <joint name="FFJ1_f" type="fixed"> | |
| <parent link="link_ff_pm_z"/> | |
| <child link="ffmiddle_fixed"/> | |
| <origin xyz="-0.0326789 0.00400935 0.00221706"/> | |
| <axis xyz="1 0 0"/> | |
| </joint> | |
| <joint name="FFJ1" type="revolute"> | |
| <parent link="ffmiddle_fixed"/> | |
| <child link="ffmiddle"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="FFJ1_y" type="revolute"> | |
| <parent link="ffmiddle"/> | |
| <child link="link_ff_md_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="FFJ1_z" type="revolute"> | |
| <parent link="link_ff_md_y"/> | |
| <child link="link_ff_md_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.5000" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="ffdistal"> | |
| <inertial> | |
| <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/> | |
| <mass value="0.00293"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_ff_dd_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_ff_dd_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/ffdist_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- FF1 joint --> | |
| <joint name="FFJ0" type="revolute"> | |
| <parent link="link_ff_md_z"/> | |
| <child link="ffdistal"/> | |
| <origin xyz="-0.0221559 -0.00129842 -0.000114109"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="FFJ0_y" type="revolute"> | |
| <parent link="ffdistal"/> | |
| <child link="link_ff_dd_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="FFJ0_z" type="revolute"> | |
| <parent link="link_ff_dd_y"/> | |
| <child link="link_ff_dd_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="link_fftip"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="FFTip" type="fixed"> | |
| <parent link="link_ff_dd_z"/> | |
| <child link="link_fftip"/> | |
| <origin xyz="-0.02326277 0.00071796 0.00404926"/> | |
| </joint> | |
| <!-- MF --> | |
| <link name="mffixed"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.0"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="Palm_MFJ2" type="fixed"> | |
| <parent link="link_palm_rz"/> | |
| <child link="mffixed"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| </joint> | |
| <link name="mfproximal"> | |
| <inertial> | |
| <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/> | |
| <mass value="0.00996"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_mf_pm_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_mf_pm_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/mfprox_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- MF2 proximal joint --> | |
| <joint name="MFJ2" type="revolute"> | |
| <parent link="mffixed"/> | |
| <child link="mfproximal"/> | |
| <origin xyz="-0.0946604 -0.00147896 -0.00335754"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="MFJ2_y" type="revolute"> | |
| <parent link="mfproximal"/> | |
| <child link="link_mf_pm_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/> | |
| </joint> | |
| <joint name="MFJ2_z" type="revolute"> | |
| <parent link="link_mf_pm_y"/> | |
| <child link="link_mf_pm_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="mfmiddle"> | |
| <inertial> | |
| <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/> | |
| <mass value="0.00400"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_mf_md_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_mf_md_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/mfmiddle_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- MF1 joint --> | |
| <joint name="MFJ1" type="revolute"> | |
| <parent link="link_mf_pm_z"/> | |
| <child link="mfmiddle"/> | |
| <origin xyz="-0.0311827 0.00186133 -0.00559451"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="MFJ1_y" type="revolute"> | |
| <parent link="mfmiddle"/> | |
| <child link="link_mf_md_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="MFJ1_z" type="revolute"> | |
| <parent link="link_mf_md_y"/> | |
| <child link="link_mf_md_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="mfdistal"> | |
| <inertial> | |
| <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/> | |
| <mass value="0.00289"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_mf_dd_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_mf_dd_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/mfdist_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- MF0 joint --> | |
| <joint name="MFJ0" type="revolute"> | |
| <parent link="link_mf_md_z"/> | |
| <child link="mfdistal"/> | |
| <origin xyz="-0.0229046 -0.0012521 -0.00394452"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="MFJ0_y" type="revolute"> | |
| <parent link="mfdistal"/> | |
| <child link="link_mf_dd_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="MFJ0_z" type="revolute"> | |
| <parent link="link_mf_dd_y"/> | |
| <child link="link_mf_dd_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="link_mftip"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="MFTip" type="fixed"> | |
| <parent link="link_mf_dd_z"/> | |
| <child link="link_mftip"/> | |
| <origin xyz="-0.03103006 -0.0014151 -0.00637153"/> | |
| </joint> | |
| <!-- RF --> | |
| <link name="rffixed"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.0"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="Palm_RFJ2" type="fixed"> | |
| <parent link="link_palm_rz"/> | |
| <child link="rffixed"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| </joint> | |
| <link name="rfproximal"> | |
| <inertial> | |
| <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/> | |
| <mass value="0.00725"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_rf_pm_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_rf_pm_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/rfprox_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- RF2 proximal joint --> | |
| <joint name="RFJ2" type="revolute"> | |
| <parent link="rffixed"/> | |
| <child link="rfproximal"/> | |
| <origin xyz="-0.0817355 -0.00395742 -0.0266732"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="RFJ2_y" type="revolute"> | |
| <parent link="rfproximal"/> | |
| <child link="link_rf_pm_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/> | |
| </joint> | |
| <joint name="RFJ2_z" type="revolute"> | |
| <parent link="link_rf_pm_y"/> | |
| <child link="link_rf_pm_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="rfmiddle"> | |
| <inertial> | |
| <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/> | |
| <mass value="0.00487"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_rf_md_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_rf_md_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/rfmiddle_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- RF1 joint --> | |
| <joint name="RFJ1" type="revolute"> | |
| <parent link="link_rf_pm_z"/> | |
| <child link="rfmiddle"/> | |
| <origin xyz="-0.0283143 0.00206701 -0.00509854"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="RFJ1_y" type="revolute"> | |
| <parent link="rfmiddle"/> | |
| <child link="link_rf_md_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="RFJ1_z" type="revolute"> | |
| <parent link="link_rf_md_y"/> | |
| <child link="link_rf_md_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="rfdistal"> | |
| <inertial> | |
| <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/> | |
| <mass value="0.00272"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_rf_dd_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_rf_dd_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/rfdist_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- RF0 joint --> | |
| <joint name="RFJ0" type="revolute"> | |
| <parent link="link_rf_md_z"/> | |
| <child link="rfdistal"/> | |
| <origin xyz="-0.0235205 -0.00168811 -0.00763382"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="RFJ0_y" type="revolute"> | |
| <parent link="rfdistal"/> | |
| <child link="link_rf_dd_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="RFJ0_z" type="revolute"> | |
| <parent link="link_rf_dd_y"/> | |
| <child link="link_rf_dd_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="link_rftip"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="RFTip" type="fixed"> | |
| <parent link="link_rf_dd_z"/> | |
| <child link="link_rftip"/> | |
| <origin xyz="-0.02920424 0.00374213 -0.00808987"/> | |
| </joint> | |
| <!-- LF --> | |
| <link name="lffixed"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.0"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="Palm_LFJ2" type="fixed"> | |
| <parent link="link_palm_rz"/> | |
| <child link="lffixed"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| </joint> | |
| <link name="lfproximal"> | |
| <inertial> | |
| <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/> | |
| <mass value="0.00416"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_lf_pm_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_lf_pm_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/lfprox_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- LF2 proximal joint --> | |
| <joint name="LFJ2" type="revolute"> | |
| <parent link="lffixed"/> | |
| <child link="lfproximal"/> | |
| <origin xyz="-0.0687869 -0.00994033 -0.0432093"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="LFJ2_y" type="revolute"> | |
| <parent link="lfproximal"/> | |
| <child link="link_lf_pm_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/> | |
| </joint> | |
| <joint name="LFJ2_z" type="revolute"> | |
| <parent link="link_lf_pm_y"/> | |
| <child link="link_lf_pm_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="lfmiddle"> | |
| <inertial> | |
| <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/> | |
| <mass value="0.00269"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_lf_md_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_lf_md_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/lfmiddle_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- LF1 joint --> | |
| <joint name="LFJ1" type="revolute"> | |
| <parent link="link_lf_pm_z"/> | |
| <child link="lfmiddle"/> | |
| <origin xyz="-0.0170144 6.18249e-05 -0.0124988"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="LFJ1_y" type="revolute"> | |
| <parent link="lfmiddle"/> | |
| <child link="link_lf_md_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="LFJ1_z" type="revolute"> | |
| <parent link="link_lf_md_y"/> | |
| <child link="link_lf_md_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="lfdistal"> | |
| <inertial> | |
| <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/> | |
| <mass value="0.00150"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_lf_dd_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_lf_dd_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/lfdist_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- LF0 joint --> | |
| <joint name="LFJ0" type="revolute"> | |
| <parent link="link_lf_md_z"/> | |
| <child link="lfdistal"/> | |
| <origin xyz="-0.0158669 -0.000691155 -0.0103319"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="LFJ0_y" type="revolute"> | |
| <parent link="lfdistal"/> | |
| <child link="link_lf_dd_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/> | |
| </joint> | |
| <joint name="LFJ0_z" type="revolute"> | |
| <parent link="link_lf_dd_y"/> | |
| <child link="link_lf_dd_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <link name="link_lftip"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="LFTip" type="fixed"> | |
| <parent link="link_lf_dd_z"/> | |
| <child link="link_lftip"/> | |
| <origin xyz="-0.0195595 0.0025909 -0.01148116"/> | |
| </joint> | |
| <!-- TH --> | |
| <link name="thfixed"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.0"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="Palm_THJ2" type="fixed"> | |
| <parent link="link_palm_rz"/> | |
| <child link="thfixed"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| </joint> | |
| <link name="thproximal"> | |
| <inertial> | |
| <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/> | |
| <mass value="0.01392"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_th_pm_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_th_pm_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/thprox_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- TH2 proximal joint --> | |
| <joint name="THJ2" type="revolute"> | |
| <parent link="thfixed"/> | |
| <child link="thproximal"/> | |
| <origin xyz="-0.0240897 -0.0155223 0.0258128"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="0" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <joint name="THJ2_y" type="revolute"> | |
| <parent link="thproximal"/> | |
| <child link="link_th_pm_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/> | |
| </joint> | |
| <joint name="THJ2_z" type="revolute"> | |
| <parent link="link_th_pm_y"/> | |
| <child link="link_th_pm_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.25" upper="0.25" velocity="0.5"/> | |
| </joint> | |
| <link name="thmiddle"> | |
| <inertial> | |
| <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/> | |
| <mass value="0.00802"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_th_md_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_th_md_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/thmiddle_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- TH1 joint --> | |
| <joint name="THJ1" type="revolute"> | |
| <parent link="link_th_pm_z"/> | |
| <child link="thmiddle"/> | |
| <origin xyz="-0.0196332 0.000891286 0.0236995"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-1" upper="1" velocity="0.5"/> | |
| </joint> | |
| <joint name="THJ1_y" type="revolute"> | |
| <parent link="thmiddle"/> | |
| <child link="link_th_md_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/> | |
| </joint> | |
| <joint name="THJ1_z" type="revolute"> | |
| <parent link="link_th_md_y"/> | |
| <child link="link_th_md_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/> | |
| </joint> | |
| <link name="thdistal"> | |
| <inertial> | |
| <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/> | |
| <mass value="0.00726"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_th_dd_y"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <link name="link_th_dd_z"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0.0" xyz="0 0 0"/> | |
| <geometry> | |
| <mesh filename="meshes/thdist_mean.stl" scale="1 1 1"/> | |
| </geometry> | |
| </visual> | |
| </link> | |
| <!-- TH0 joint --> | |
| <joint name="THJ0" type="revolute"> | |
| <parent link="link_th_md_z"/> | |
| <child link="thdistal"/> | |
| <origin xyz="-0.0222177 -0.00543297 0.0145241"/> | |
| <axis xyz="1 0 0"/> | |
| <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/> | |
| </joint> | |
| <joint name="THJ0_y" type="revolute"> | |
| <parent link="thdistal"/> | |
| <child link="link_th_dd_y"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/> | |
| </joint> | |
| <joint name="THJ0_z" type="revolute"> | |
| <parent link="link_th_dd_y"/> | |
| <child link="link_th_dd_z"/> | |
| <origin xyz="0.0 0.0 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/> | |
| </joint> | |
| <link name="link_thtip"> | |
| <inertial> | |
| <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
| <mass value="0.00000"/> | |
| <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/> | |
| </inertial> | |
| </link> | |
| <!-- Fix Finger joint --> | |
| <joint name="THTip" type="fixed"> | |
| <parent link="link_th_dd_z"/> | |
| <child link="link_thtip"/> | |
| <origin xyz="-0.0315493 -0.00652654 0.02048647"/> | |
| </joint> | |
| </robot> |