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<robot name="mano"> | |
<material name="hand_color"> | |
<color rgba="0.91796875 0.765 0.5234 1"/> | |
</material> | |
<!-- <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> | |
<!-- | |
Palm | |
--> | |
<!-- Palm --> | |
<link name="palm"> | |
<inertial> | |
<!-- <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/> --> | |
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/> | |
<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="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
<collision> | |
<!-- <origin rpy="0 0 0.2" xyz="-0.03 0 0"/> | |
<geometry> | |
<box size="0.08780 0.027 0.07"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/palm_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<!-- <collision> | |
<origin rpy="-2.61505 0.70030 -1.87000" xyz="-0.01187 -0.00708 0.01218"/> | |
<geometry> | |
<capsule length="0.03684" radius="0.015"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> --> | |
</link> | |
<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" lower="-2" upper="2" /> | |
<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" lower="-2" upper="2" /> | |
<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" lower="-2" upper="2"/> | |
<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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="2.0759187 1.43150624 1.94972864" xyz="-0.01633945 0.00200468 0.00110853"/> | |
<geometry> | |
<capsule length="0.0329984988704395" radius="0.009"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/ffprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/ffprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- FF2 proximal joint --> | |
<joint name="FFJ2" type="revolute"> | |
<parent link="fffixed"/> | |
<child link="ffproximal"/> | |
<origin xyz="-0.08375400304794312 -0.004943982232362032 0.01966618001461029"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="-1.48313839 1.51203433 -1.42475203" xyz="-1.10779554e-02 -6.49210764e-04 -5.70546836e-05"/> | |
<geometry> | |
<capsule length="0.02219421770877059" radius="0.0075"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/ffmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/ffmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- FF1 joint --> | |
<joint name="FFJ1_f" type="fixed"> | |
<parent link="link_ff_pm_z"/> | |
<child link="ffmiddle_fixed"/> | |
<origin xyz="-0.031067827716469765 0.003811689093708992 0.0021077587734907866"/> | |
<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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="2.96610898 1.39582282 2.93259132 " xyz="-0.01163138 0.00035898 0.00202463"/> | |
<geometry> | |
<capsule length="0.015" radius="0.0075"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/ffdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/ffdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- FF1 joint --> | |
<joint name="FFJ0" type="revolute"> | |
<parent link="link_ff_md_z"/> | |
<child link="ffdistal"/> | |
<origin xyz="-0.021063612774014473 -0.0012344078859314322 -0.00010848342935787514"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="0.32118629 1.38392244 0.26686409" xyz="-0.01559134 0.00093066 -0.00279725"/> | |
<geometry> | |
<capsule length="0.031735191602453826" radius="0.009"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/mfprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/mfprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- MF2 proximal joint --> | |
<joint name="MFJ2" type="revolute"> | |
<parent link="mffixed"/> | |
<child link="mfproximal"/> | |
<origin xyz="-0.08999364078044891 -0.001406047260388732 -0.003192013129591942"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="-0.30736925 1.39204219 -0.25742004" xyz="-0.01145232 -0.00062605 -0.00197226"/> | |
<geometry> | |
<capsule length="0.023275522107771795" radius="0.0075"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/mfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/mfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- MF1 joint --> | |
<joint name="MFJ1" type="revolute"> | |
<parent link="link_mf_pm_z"/> | |
<child link="mfmiddle"/> | |
<origin xyz="-0.029645392671227455 0.0017695664428174496 -0.005318700801581144"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="-0.21855015 1.36348088 -0.17760409" xyz="-0.01551503 -0.00070755 -0.00318577"/> | |
<geometry> | |
<capsule length="0.01" radius="0.0075"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/mfdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/mfdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- MF0 joint --> | |
<joint name="MFJ0" type="revolute"> | |
<parent link="link_mf_md_z"/> | |
<child link="mfdistal"/> | |
<origin xyz="-0.02177540212869644 -0.0011903714621439576 -0.0037500550970435143"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy=" 0.38516311 1.37888284 0.31878467" xyz="-0.01415714 0.0010335 -0.00254927"/> | |
<geometry> | |
<capsule length="0.028843811919740826" radius="0.009"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/rfprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/rfprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- RF2 proximal joint --> | |
<joint name="RFJ2" type="revolute"> | |
<parent link="rffixed"/> | |
<child link="rfproximal"/> | |
<origin xyz="-0.07770593464374542 -0.003762319218367338 -0.025358211249113083"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="-0.21763357 1.24988512 -0.15729772" xyz="-0.01176025 -0.00084406 -0.00381691"/> | |
<geometry> | |
<capsule length="0.024785865310763495" radius="0.0075"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/rfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/rfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- RF1 joint --> | |
<joint name="RFJ1" type="revolute"> | |
<parent link="link_rf_pm_z"/> | |
<child link="rfmiddle"/> | |
<origin xyz="-0.026918403804302216 0.0019651062320917845 -0.004847181960940361"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="0.43325752 1.27456581 0.32302802" xyz="-0.01460212 0.00187106 -0.00404494"/> | |
<geometry> | |
<capsule length="0.01" radius="0.0075"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/rfdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/rfdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- RF0 joint --> | |
<joint name="RFJ0" type="revolute"> | |
<parent link="link_rf_md_z"/> | |
<child link="rfdistal"/> | |
<origin xyz="-0.022360937669873238 -0.0016048861434683204 -0.007257472723722458"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="0.00494643 0.93721839 0.00250398" xyz="-8.50720331e-03 3.09124589e-05 -6.24939241e-03"/> | |
<geometry> | |
<capsule length="0.0211119273571839" radius="0.009"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/lfprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/lfprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- LF2 proximal joint --> | |
<joint name="LFJ2" type="revolute"> | |
<parent link="lffixed"/> | |
<child link="lfproximal"/> | |
<origin xyz="-0.06539570540189743 -0.009450271725654602 -0.041079081594944"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="-0.06679566 0.99258405 -0.0361792" xyz="-0.00793345 -0.00034558 -0.00516596"/> | |
<geometry> | |
<capsule length="0.018946892889554656" radius="0.0075"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/lfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/lfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- LF1 joint --> | |
<joint name="LFJ1" type="revolute"> | |
<parent link="link_lf_pm_z"/> | |
<child link="lfmiddle"/> | |
<origin xyz="-0.016175588592886925 5.8776935475179926e-05 -0.011882608756422997"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="0.22194785 1.02909336 0.12582808" xyz="-0.00977975 0.00129545 -0.00574058"/> | |
<geometry> | |
<capsule length="0.007" radius="0.0065"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/lfdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/lfdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- LF0 joint --> | |
<joint name="LFJ0" type="revolute"> | |
<parent link="link_lf_md_z"/> | |
<child link="lfdistal"/> | |
<origin xyz="-0.015084661543369293 -0.0006570810219272971 -0.009822537191212177"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.25000" upper="0.25000" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="3.10400265 0.69148607 3.03731965" xyz="-0.00981662 0.00044564 0.01184977"/> | |
<geometry> | |
<capsule length="0.030788427516318044" radius="0.01"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/thprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
</collision> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/thprox_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- TH2 proximal joint --> | |
<joint name="THJ2" type="revolute"> | |
<parent link="thfixed"/> | |
<child link="thproximal"/> | |
<origin xyz="-0.022902077063918114 -0.014757050201296806 0.02454022690653801"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-3.14" upper="3.14" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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="-3.14" upper="3.14" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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="-3.14" upper="3.14" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy=" -2.78364168 0.96144328 -2.47379542" xyz="-0.01110887 -0.00271648 0.00726206"/> | |
<geometry> | |
<capsule length="0.02709418497996566" radius="0.01"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/thmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/thmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- TH1 joint --> | |
<joint name="THJ1" type="revolute"> | |
<parent link="link_th_pm_z"/> | |
<child link="thmiddle"/> | |
<origin xyz="-0.018665282055735588 0.0008473455673083663 0.022531114518642426"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-3.14" upper="3.14" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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="-3.14" upper="3.14" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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="-3.14" upper="3.14" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> | |
<collision> | |
<!-- <origin rpy="-2.83317999 0.97259243 -2.56963586" xyz="-0.01577465 -0.00326327 0.01024323"/> | |
<geometry> | |
<capsule length="0.02" radius="0.01"/> | |
</geometry> --> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/thdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name=""> | |
<contact name="finger"/> | |
</material> | |
</collision> | |
<visual> | |
<origin rpy="0 0 0.0" xyz="0 0 0"/> | |
<geometry> | |
<mesh filename="meshes/thdist_mean.stl" scale="0.9507 0.9507 0.9507"/> | |
</geometry> | |
<material name="hand_color"/> | |
</visual> | |
</link> | |
<!-- TH0 joint --> | |
<joint name="THJ0" type="revolute"> | |
<parent link="link_th_md_z"/> | |
<child link="thdistal"/> | |
<origin xyz="-0.021122368052601814 -0.00516512431204319 0.013808062300086021"/> | |
<axis xyz="1 0 0"/> | |
<limit effort="1000" lower="-0.000" upper="1.57" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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" /> | |
<dynamics damping="1.0" friction="0.0001"/> | |
</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> |