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  1. .gitignore +5 -4
  2. ckpts +0 -0
  3. rsc/mano/arctic_epressomachine_wcollision.urdf +26 -0
  4. rsc/mano/arctic_phone_wcollision.urdf +28 -0
  5. rsc/mano/arctic_scissors_wcollision.urdf +33 -0
  6. rsc/mano/grab_ball_wcollision.urdf +33 -0
  7. rsc/mano/grab_banana_wcollision.urdf +30 -0
  8. rsc/mano/grab_bottle_wcollision.urdf +28 -0
  9. rsc/mano/grab_bunny_wcollision.urdf +28 -0
  10. rsc/mano/grab_camera_wcollision.urdf +38 -0
  11. rsc/mano/grab_cube_wcollision.urdf +33 -0
  12. rsc/mano/grab_cup_wcollision.urdf +28 -0
  13. rsc/mano/grab_cylinder_wcollision.urdf +28 -0
  14. rsc/mano/grab_dingshuji_wcollision.urdf +29 -0
  15. rsc/mano/grab_dount267_wcollision.urdf +27 -0
  16. rsc/mano/grab_flashlight_wcollision.urdf +28 -0
  17. rsc/mano/grab_flashlight_wcollision_ks.urdf +28 -0
  18. rsc/mano/grab_hammer167_wcollision.urdf +28 -0
  19. rsc/mano/grab_hammer167_wcollision_ks.urdf +28 -0
  20. rsc/mano/grab_hammer296_wcollision.urdf +27 -0
  21. rsc/mano/grab_hammer_wcollision.urdf +31 -0
  22. rsc/mano/grab_hammer_wcollision_ks.urdf +31 -0
  23. rsc/mano/grab_handle_wcollision.urdf +28 -0
  24. rsc/mano/grab_mouse313_wcollision.urdf +32 -0
  25. rsc/mano/grab_mouse313_wcollision_ks.urdf +32 -0
  26. rsc/mano/grab_mouse_wcollision.urdf +27 -0
  27. rsc/mano/grab_mouse_wcollision_ks.urdf +27 -0
  28. rsc/mano/grab_phone_wcollision.urdf +27 -0
  29. rsc/mano/grab_plane_wcollision.urdf +27 -0
  30. rsc/mano/grab_quadrangular_wcollision.urdf +27 -0
  31. rsc/mano/grab_scissor_wcollision.urdf +27 -0
  32. rsc/mano/grab_scissors_wcollision.urdf +33 -0
  33. rsc/mano/grab_stapler107_wcollision.urdf +34 -0
  34. rsc/mano/grab_stapler107_wcollision_ks.urdf +32 -0
  35. rsc/mano/grab_tiantianquan_wcollision.urdf +29 -0
  36. rsc/mano/grab_train_wcollision.urdf +27 -0
  37. rsc/mano/grab_watch_wcollision.urdf +27 -0
  38. rsc/mano/mano_mean.urdf +1297 -0
  39. rsc/mano/mano_mean_meshcoll.urdf +1272 -0
  40. rsc/mano/mano_mean_nocoll.urdf +1095 -0
  41. rsc/mano/mano_mean_nocoll_simplified.urdf +1103 -0
  42. rsc/mano/mano_mean_nocoll_simplified_scaled.urdf +1103 -0
  43. rsc/mano/mano_mean_nocoll_simplified_scaled_wbasejts.urdf +1123 -0
  44. rsc/mano/mano_mean_wcollision_scaled.urdf +1362 -0
  45. rsc/mano/mano_mean_wcollision_scaled_scaled.urdf +1362 -0
  46. rsc/mano/mano_mean_wcollision_scaled_scaled_0_9507.urdf +1362 -0
  47. rsc/mano/mano_mean_wcollision_scaled_scaled_0_9507_nroot.urdf +1357 -0
  48. rsc/mano/meshes/ffdist_mean.stl +0 -0
  49. rsc/mano/meshes/ffmiddle_mean.stl +0 -0
  50. rsc/mano/meshes/ffprox_mean.stl +0 -0
.gitignore CHANGED
@@ -30,8 +30,8 @@ test.py
30
  #### old scripts and data&exp folders ###
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  scripts/
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  confs/
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- data/
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- ckpts/
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  exp/
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  uni_rep/
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@@ -56,7 +56,8 @@ var/
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  .installed.cfg
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  *.egg
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- rsc/
 
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  raw_data/
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  # PyInstaller
@@ -184,7 +185,7 @@ crashlytics.properties
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  crashlytics-build.properties
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  fabric.properties
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- data
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  public_data
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  exp
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  tmp
 
30
  #### old scripts and data&exp folders ###
31
  scripts/
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  confs/
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+ data/*
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+ ckpts/grab/102/*
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  exp/
36
  uni_rep/
37
 
 
56
  .installed.cfg
57
  *.egg
58
 
59
+ rsc/mano/*.npy
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+ rsc/mano/meshes/obj_data/*.npy
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  raw_data/
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63
  # PyInstaller
 
185
  crashlytics-build.properties
186
  fabric.properties
187
 
188
+ # data
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  public_data
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  exp
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  tmp
ckpts DELETED
File without changes
rsc/mano/arctic_epressomachine_wcollision.urdf ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <?xml version="0.0" ?>
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+ <robot name="grab_espressomachine">
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+ <link name="link0">
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+ <inertial>
5
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
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+ <!-- <mass value="200000000"/> -->
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+ <!-- <mass value="160.78"/> -->
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+ <mass value="100000.0"/>
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+ <!-- <mass value="1000.0"/> -->
10
+ <inertia ixx="50" ixy="0" ixz="0" iyy="50" iyz="0" izz="50"/>
11
+ </inertial>
12
+ <visual>
13
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
14
+ <geometry>
15
+ <mesh filename="/home/xueyi/diffsim/NeuS/raw_data/arctic_processed_canon_obj/espressomachine_grab_01_canon_obj.obj" scale="1 1 1"/>
16
+ </geometry>
17
+ </visual>
18
+ <collision>
19
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
20
+ <geometry>
21
+ <mesh filename="/home/xueyi/diffsim/NeuS/raw_data/arctic_processed_canon_obj/espressomachine_grab_01_canon_obj.obj" scale="0.8 0.8 0.8"/>
22
+ </geometry>
23
+ </collision>
24
+ </link>
25
+ </robot>
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+
rsc/mano/arctic_phone_wcollision.urdf ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="grab_phone">
3
+
4
+ <link name="link0">
5
+ <inertial>
6
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
7
+ <!-- <mass value="200000000"/> -->
8
+ <!-- <mass value="160.78"/> -->
9
+ <!-- <mass value="10000.0"/> -->
10
+ <mass value="1000.0"/>
11
+ <!-- <mass value="1000.0"/> -->
12
+ <inertia ixx="50" ixy="0" ixz="0" iyy="50" iyz="0" izz="50"/>
13
+ </inertial>
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+ <visual>
15
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
16
+ <geometry>
17
+ <mesh filename="/root/diffsim/control-vae-2/assets/arctic/phone.obj" scale="1 1 1"/>
18
+ </geometry>
19
+ </visual>
20
+ <collision>
21
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
22
+ <geometry>
23
+ <mesh filename="/root/diffsim/control-vae-2/assets/arctic/phone.obj" scale="1 1 1"/>
24
+ </geometry>
25
+ </collision>
26
+ </link>
27
+ </robot>
28
+
rsc/mano/arctic_scissors_wcollision.urdf ADDED
@@ -0,0 +1,33 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="arctic_scissors">
3
+
4
+ <material name="obj_color">
5
+ <!-- <color rgba="0.91796875 0.765 0.5234 1"/> -->
6
+ <color rgba="0 0.7490196078431373 1.0 1"/>
7
+ </material>
8
+
9
+ <link name="link0">
10
+ <inertial>
11
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
12
+ <!-- <mass value="200000000"/> -->
13
+ <!-- <mass value="160.78"/> -->
14
+ <mass value="10000.0"/>
15
+ <!-- <mass value="1000.0"/> -->
16
+ <inertia ixx="50" ixy="0" ixz="0" iyy="50" iyz="0" izz="50"/>
17
+ </inertial>
18
+ <visual>
19
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
20
+ <geometry>
21
+ <mesh filename="assets/arctic/scissors.obj" scale="1 1 1"/>
22
+ </geometry>
23
+ <material name="obj_color"/>
24
+ </visual>
25
+ <collision>
26
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
27
+ <geometry>
28
+ <mesh filename="assets/arctic/scissors.obj" scale="1 1 1"/>
29
+ </geometry>
30
+ </collision>
31
+ </link>
32
+ </robot>
33
+
rsc/mano/grab_ball_wcollision.urdf ADDED
@@ -0,0 +1,33 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+
3
+ <robot name="grab_camera">
4
+
5
+ <link name="link0">
6
+ <inertial>
7
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
8
+ <!-- <mass value="200000000"/> -->
9
+ <!-- <mass value="10000.0"/> -->
10
+ <!-- <mass value="5000.0"/> -->
11
+ <mass value="1000.0"/>
12
+ <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
13
+ </inertial>
14
+ <visual>
15
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
16
+ <geometry>
17
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/25_sv_dict_real_obj.obj" scale="1 1 1"/>
18
+ </geometry>
19
+ </visual>
20
+ <collision>
21
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
22
+ <!-- <geometry>
23
+ <mesh filename="/data1/xueyi/GRAB_extracted/tools/object_meshes/contact_meshes/camera.obj" scale="1.0 1.0 1.0"/>
24
+ </geometry> -->
25
+ <!-- /home/xueyi/diffsim/NeuS/rsc/mano/meshes/obj_data/camera_collision_box.obj -->
26
+ <!-- use the camera collision box as the collision geometry -->
27
+ <geometry>
28
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/25_sv_dict_real_obj.obj" scale="1.0 1.0 1.0"/>
29
+ </geometry>
30
+ </collision>
31
+ </link>
32
+ </robot>
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+
rsc/mano/grab_banana_wcollision.urdf ADDED
@@ -0,0 +1,30 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="grab_banana">
3
+
4
+ <link name="link0">
5
+ <inertial>
6
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
7
+ <!-- <mass value="200000000"/> -->
8
+ <!-- <mass value="160.78"/> -->
9
+ <!-- <mass value="10000.0"/> -->
10
+ <mass value="4000.0"/>
11
+ <!-- <mass value="1000.0"/> -->
12
+ <!-- <inertia ixx="50" ixy="0" ixz="0" iyy="50" iyz="0" izz="50"/> -->
13
+ <inertia ixx="10" ixy="0" ixz="0" iyy="10" iyz="0" izz="10"/>
14
+
15
+ </inertial>
16
+ <visual>
17
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
18
+ <geometry>
19
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/67_obj.obj" scale="1 1 1"/>
20
+ </geometry>
21
+ </visual>
22
+ <collision>
23
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
24
+ <geometry>
25
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/67_obj.obj" scale="1.0 1.0 1.0"/>
26
+ </geometry>
27
+ </collision>
28
+ </link>
29
+ </robot>
30
+
rsc/mano/grab_bottle_wcollision.urdf ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="grab_bottle">
3
+
4
+ <link name="link0">
5
+ <inertial>
6
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
7
+ <!-- <mass value="200000000"/> -->
8
+ <!-- <mass value="160.78"/> -->
9
+ <!-- <mass value="10000.0"/> -->
10
+ <mass value="50.0"/>
11
+ <!-- <mass value="1000.0"/> -->
12
+ <inertia ixx="50" ixy="0" ixz="0" iyy="50" iyz="0" izz="50"/>
13
+ </inertial>
14
+ <visual>
15
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
16
+ <geometry>
17
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/296_obj.obj" scale="1 1 1"/>
18
+ </geometry>
19
+ </visual>
20
+ <collision>
21
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
22
+ <geometry>
23
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/296_obj.obj" scale="1.0 1.0 1.0"/>
24
+ </geometry>
25
+ </collision>
26
+ </link>
27
+ </robot>
28
+
rsc/mano/grab_bunny_wcollision.urdf ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="grab_bunny">
3
+
4
+ <link name="link0">
5
+ <inertial>
6
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
7
+ <!-- <mass value="200000000"/> -->
8
+ <!-- <mass value="160.78"/> -->
9
+ <mass value="100000.0"/>
10
+ <!-- <mass value="1000.0"/> -->
11
+ <inertia ixx="50" ixy="0" ixz="0" iyy="50" iyz="0" izz="50"/>
12
+ </inertial>
13
+ <visual>
14
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
15
+ <geometry>
16
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/85_obj.obj" scale="1 1 1"/>
17
+ </geometry>
18
+ </visual>
19
+ <collision>
20
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
21
+ <geometry>
22
+ <!-- <mesh filename="/data1/xueyi/GRAB_extracted_test/train/85_obj.obj" scale="1.0 1.0 1.0"/> -->
23
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/85_obj.obj" scale="0.90 0.90 0.90"/>
24
+ </geometry>
25
+ </collision>
26
+ </link>
27
+ </robot>
28
+
rsc/mano/grab_camera_wcollision.urdf ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+
3
+ <robot name="grab_camera">
4
+
5
+ <link name="link0">
6
+ <inertial>
7
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
8
+ <!-- <mass value="200000000"/> -->
9
+ <mass value="10000.0"/>
10
+ <!-- <mass value="5000.0"/> -->
11
+ <!-- <mass value="1000.0"/> -->
12
+ <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
13
+ </inertial>
14
+ <visual>
15
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
16
+ <geometry>
17
+ <mesh filename="/data1/xueyi/GRAB_extracted/tools/object_meshes/contact_meshes/camera.obj" scale="1 1 1"/>
18
+ </geometry>
19
+ </visual>
20
+ <collision>
21
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
22
+ <!-- <geometry>
23
+ <mesh filename="/data1/xueyi/GRAB_extracted/tools/object_meshes/contact_meshes/camera.obj" scale="1.0 1.0 1.0"/>
24
+ </geometry> -->
25
+ <!-- /home/xueyi/diffsim/NeuS/rsc/mano/meshes/obj_data/camera_collision_box.obj -->
26
+ <!-- use the camera collision box as the collision geometry -->
27
+ <geometry>
28
+ <mesh filename="/home/xueyi/diffsim/NeuS/rsc/mano/meshes/obj_data/camera_collision_box.obj" scale="1.0 1.0 1.0"/>
29
+ </geometry>
30
+ <!-- <material name="">
31
+ <contact name="camera"/>
32
+ </material> -->
33
+ </collision>
34
+ </link>
35
+
36
+
37
+ </robot>
38
+
rsc/mano/grab_cube_wcollision.urdf ADDED
@@ -0,0 +1,33 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+
3
+ <robot name="grab_camera">
4
+
5
+ <link name="link0">
6
+ <inertial>
7
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
8
+ <!-- <mass value="200000000"/> -->
9
+ <!-- <mass value="10000.0"/> -->
10
+ <!-- <mass value="5000.0"/> -->
11
+ <mass value="1000.0"/>
12
+ <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
13
+ </inertial>
14
+ <visual>
15
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
16
+ <geometry>
17
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/20_sv_dict_real_obj.obj" scale="1 1 1"/>
18
+ </geometry>
19
+ </visual>
20
+ <collision>
21
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
22
+ <!-- <geometry>
23
+ <mesh filename="/data1/xueyi/GRAB_extracted/tools/object_meshes/contact_meshes/camera.obj" scale="1.0 1.0 1.0"/>
24
+ </geometry> -->
25
+ <!-- /home/xueyi/diffsim/NeuS/rsc/mano/meshes/obj_data/camera_collision_box.obj -->
26
+ <!-- use the camera collision box as the collision geometry -->
27
+ <geometry>
28
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/20_sv_dict_real_obj.obj" scale="1.0 1.0 1.0"/>
29
+ </geometry>
30
+ </collision>
31
+ </link>
32
+ </robot>
33
+
rsc/mano/grab_cup_wcollision.urdf ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="grab_cup">
3
+
4
+ <link name="link0">
5
+ <inertial>
6
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
7
+ <!-- <mass value="200000000"/> -->
8
+ <!-- <mass value="160.78"/> -->
9
+ <mass value="100000.0"/>
10
+ <!-- <mass value="1000.0"/> -->
11
+ <inertia ixx="50" ixy="0" ixz="0" iyy="50" iyz="0" izz="50"/>
12
+ </inertial>
13
+ <visual>
14
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
15
+ <geometry>
16
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/358_obj.obj" scale="1 1 1"/>
17
+ </geometry>
18
+ </visual>
19
+ <collision>
20
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
21
+ <geometry>
22
+ <!-- <mesh filename="/data1/xueyi/GRAB_extracted_test/train/358_obj.obj" scale="1.0 1.0 1.0"/> -->
23
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/358_obj.obj" scale="0.8 0.8 0.8"/>
24
+ </geometry>
25
+ </collision>
26
+ </link>
27
+ </robot>
28
+
rsc/mano/grab_cylinder_wcollision.urdf ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+
3
+ <robot name="grab_camera">
4
+
5
+ <link name="link0">
6
+ <inertial>
7
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
8
+ <!-- <mass value="200000000"/> -->
9
+ <mass value="10000.0"/>
10
+ <!-- <mass value="5000.0"/> -->
11
+ <!-- <mass value="1000.0"/> -->
12
+ <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
13
+ </inertial>
14
+ <visual>
15
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
16
+ <geometry>
17
+ <mesh filename="/data1/xueyi/GRAB_extracted_test/train/54_obj.obj" scale="1 1 1"/>
18
+ </geometry>
19
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+ </geometry>
82
+ <material name="">
83
+ <contact name="finger"/>
84
+ </material>
85
+ </collision>
86
+ <collision>
87
+ <origin rpy="-2.61505 0.70030 -1.87000" xyz="-0.01187 -0.00708 0.01218"/>
88
+ <geometry>
89
+ <capsule length="0.03684" radius="0.015"/>
90
+ </geometry>
91
+ <material name="">
92
+ <contact name="finger"/>
93
+ </material>
94
+ </collision>
95
+ </link>
96
+ <joint name="WRJ0x" type="prismatic">
97
+ <parent link="sliderBar"/>
98
+ <child link="palm"/>
99
+ <origin xyz="0.0 0.0 0.0"/>
100
+ <axis xyz="1 0 0"/>
101
+ <limit effort="100.0" lower="-2" upper="2" />
102
+ <dynamics damping="10.0" friction="0.0001"/>
103
+ </joint>
104
+ <joint name="WRJ0y" type="prismatic">
105
+ <parent link="palm"/>
106
+ <child link="link_palm_y"/>
107
+ <origin xyz="0.0 0.0 0.0"/>
108
+ <axis xyz="0 1 0"/>
109
+ <limit effort="100.0" lower="-2" upper="2" />
110
+ <dynamics damping="10.0" friction="0.0001"/>
111
+ </joint>
112
+ <joint name="WRJ0z" type="prismatic">
113
+ <parent link="link_palm_y"/>
114
+ <child link="link_palm_z"/>
115
+ <origin xyz="0.0 0.0 0.0"/>
116
+ <axis xyz="0 0 1"/>
117
+ <limit effort="100.0" lower="-2" upper="2"/>
118
+ <dynamics damping="10.0" friction="0.0001"/>
119
+ </joint>
120
+ <joint name="WRJ0rx" type="revolute">
121
+ <parent link="link_palm_z"/>
122
+ <child link="link_palm_rx"/>
123
+ <origin xyz="0.0 0.0 0.0"/>
124
+ <axis xyz="1 0 0"/>
125
+ <limit effort="1000" lower="-3.14" upper="3.14" />
126
+
127
+ <dynamics damping="1.0" friction="0.0001"/>
128
+ </joint>
129
+ <joint name="WRJ0ry" type="revolute">
130
+ <parent link="link_palm_rx"/>
131
+ <child link="link_palm_ry"/>
132
+ <origin xyz="0.0 0.0 0.0"/>
133
+ <axis xyz="0 1 0"/>
134
+ <limit effort="1000" lower="-3.14" upper="3.14" />
135
+
136
+ <dynamics damping="1.0" friction="0.0001"/>
137
+ </joint>
138
+ <joint name="WRJ0rz" type="revolute">
139
+ <parent link="link_palm_ry"/>
140
+ <child link="link_palm_rz"/>
141
+ <origin xyz="0.0 0.0 0.0"/>
142
+ <axis xyz="0 0 1"/>
143
+ <limit effort="1000" lower="-3.14" upper="3.14" />
144
+ <dynamics damping="1.0" friction="0.0001"/>
145
+ </joint>
146
+
147
+
148
+ <!-- FF -->
149
+ <link name="fffixed">
150
+ <inertial>
151
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
152
+ <mass value="0.0"/>
153
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
154
+ </inertial>
155
+ </link>
156
+ <!-- Fix Finger joint -->
157
+ <joint name="Palm_FFJ2" type="fixed">
158
+ <parent link="link_palm_rz"/>
159
+ <child link="fffixed"/>
160
+ <origin xyz="0.0 0.0 0.0"/>
161
+ </joint>
162
+
163
+
164
+ <link name="ffproximal">
165
+ <inertial>
166
+ <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
167
+ <mass value="0.00845"/>
168
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
169
+ </inertial>
170
+ </link>
171
+ <link name="link_ff_pm_y">
172
+ <inertial>
173
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
174
+ <mass value="0.00000"/>
175
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
176
+ </inertial>
177
+ </link>
178
+ <link name="link_ff_pm_z">
179
+ <inertial>
180
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
181
+ <mass value="0.00000"/>
182
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
183
+ </inertial>
184
+ <collision>
185
+ <origin rpy="2.0759187 1.43150624 1.94972864" xyz="-0.01633945 0.00200468 0.00110853"/>
186
+ <geometry>
187
+ <capsule length="0.0329984988704395" radius="0.009"/>
188
+ </geometry>
189
+ <material name="">
190
+ <contact name="finger"/>
191
+ </material>
192
+ </collision>
193
+ <visual>
194
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
195
+ <geometry>
196
+ <mesh filename="meshes/ffprox_mean.stl" scale="1 1 1"/>
197
+ </geometry>
198
+ <material name="hand_color"/>
199
+ </visual>
200
+ </link>
201
+ <!-- FF2 proximal joint -->
202
+ <joint name="FFJ2" type="revolute">
203
+ <parent link="fffixed"/>
204
+ <child link="ffproximal"/>
205
+ <origin xyz="-0.0880972 -0.00520036 0.020686"/>
206
+ <axis xyz="1 0 0"/>
207
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
208
+
209
+ <dynamics damping="1.0" friction="0.0001"/>
210
+ </joint>
211
+ <joint name="FFJ2_y" type="revolute">
212
+ <parent link="ffproximal"/>
213
+ <child link="link_ff_pm_y"/>
214
+ <origin xyz="0 0 0"/>
215
+ <axis xyz="0 1 0"/>
216
+ <limit effort="1000" lower="-0.8" upper="0.8" />
217
+
218
+ <dynamics damping="1.0" friction="0.0001"/>
219
+ </joint>
220
+ <joint name="FFJ2_z" type="revolute">
221
+ <parent link="link_ff_pm_y"/>
222
+ <child link="link_ff_pm_z"/>
223
+ <origin xyz="0 0 0"/>
224
+ <axis xyz="0 0 1"/>
225
+ <limit effort="1000" lower="-0.0" upper="1.57" />
226
+
227
+ <dynamics damping="1.0" friction="0.0001"/>
228
+ </joint>
229
+
230
+ <link name="ffmiddle_fixed">
231
+ <inertial>
232
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
233
+ <mass value="0.0"/>
234
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
235
+ </inertial>
236
+ </link>
237
+ <link name="ffmiddle">
238
+ <inertial>
239
+ <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
240
+ <mass value="0.00413"/>
241
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
242
+ </inertial>
243
+ </link>
244
+ <link name="link_ff_md_y">
245
+ <inertial>
246
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
247
+ <mass value="0.00000"/>
248
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
249
+ </inertial>
250
+ </link>
251
+ <link name="link_ff_md_z">
252
+ <inertial>
253
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
254
+ <mass value="0.00000"/>
255
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
256
+ </inertial>
257
+ <collision>
258
+ <origin rpy="-1.48313839 1.51203433 -1.42475203" xyz="-1.10779554e-02 -6.49210764e-04 -5.70546836e-05"/>
259
+ <geometry>
260
+ <capsule length="0.02219421770877059" radius="0.0075"/>
261
+ </geometry>
262
+ <material name="">
263
+ <contact name="finger"/>
264
+ </material>
265
+ </collision>
266
+ <visual>
267
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
268
+ <geometry>
269
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="1 1 1"/>
270
+ </geometry>
271
+ <material name="hand_color"/>
272
+ </visual>
273
+ </link>
274
+ <!-- FF1 joint -->
275
+ <joint name="FFJ1_f" type="fixed">
276
+ <parent link="link_ff_pm_z"/>
277
+ <child link="ffmiddle_fixed"/>
278
+ <origin xyz="-0.0326789 0.00400935 0.00221706"/>
279
+ <axis xyz="1 0 0"/>
280
+ </joint>
281
+ <joint name="FFJ1" type="revolute">
282
+ <parent link="ffmiddle_fixed"/>
283
+ <child link="ffmiddle"/>
284
+ <origin xyz="0.0 0.0 0.0"/>
285
+ <axis xyz="1 0 0"/>
286
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
287
+
288
+ <dynamics damping="1.0" friction="0.0001"/>
289
+ </joint>
290
+ <joint name="FFJ1_y" type="revolute">
291
+ <parent link="ffmiddle"/>
292
+ <child link="link_ff_md_y"/>
293
+ <origin xyz="0.0 0.0 0.0"/>
294
+ <axis xyz="0 1 0"/>
295
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
296
+
297
+ <dynamics damping="1.0" friction="0.0001"/>
298
+ </joint>
299
+ <joint name="FFJ1_z" type="revolute">
300
+ <parent link="link_ff_md_y"/>
301
+ <child link="link_ff_md_z"/>
302
+ <origin xyz="0.0 0.0 0.0"/>
303
+ <axis xyz="0 0 1"/>
304
+ <limit effort="1000" lower="-0.5000" upper="1.57" />
305
+
306
+ <dynamics damping="1.0" friction="0.0001"/>
307
+ </joint>
308
+
309
+ <link name="ffdistal">
310
+ <inertial>
311
+ <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
312
+ <mass value="0.00293"/>
313
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
314
+ </inertial>
315
+ </link>
316
+ <link name="link_ff_dd_y">
317
+ <inertial>
318
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
319
+ <mass value="0.00000"/>
320
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
321
+ </inertial>
322
+ </link>
323
+ <link name="link_ff_dd_z">
324
+ <inertial>
325
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
326
+ <mass value="0.00000"/>
327
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
328
+ </inertial>
329
+ <collision>
330
+ <origin rpy="2.96610898 1.39582282 2.93259132 " xyz="-0.01163138 0.00035898 0.00202463"/>
331
+ <geometry>
332
+ <capsule length="0.015" radius="0.0075"/>
333
+ </geometry>
334
+ <material name="">
335
+ <contact name="finger"/>
336
+ </material>
337
+ </collision>
338
+ <visual>
339
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
340
+ <geometry>
341
+ <mesh filename="meshes/ffdist_mean.stl" scale="1 1 1"/>
342
+ </geometry>
343
+ <material name="hand_color"/>
344
+ </visual>
345
+ </link>
346
+ <!-- FF1 joint -->
347
+ <joint name="FFJ0" type="revolute">
348
+ <parent link="link_ff_md_z"/>
349
+ <child link="ffdistal"/>
350
+ <origin xyz="-0.0221559 -0.00129842 -0.000114109"/>
351
+ <axis xyz="1 0 0"/>
352
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
353
+
354
+ <dynamics damping="1.0" friction="0.0001"/>
355
+ </joint>
356
+ <joint name="FFJ0_y" type="revolute">
357
+ <parent link="ffdistal"/>
358
+ <child link="link_ff_dd_y"/>
359
+ <origin xyz="0.0 0.0 0.0"/>
360
+ <axis xyz="0 1 0"/>
361
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
362
+
363
+ <dynamics damping="1.0" friction="0.0001"/>
364
+ </joint>
365
+ <joint name="FFJ0_z" type="revolute">
366
+ <parent link="link_ff_dd_y"/>
367
+ <child link="link_ff_dd_z"/>
368
+ <origin xyz="0.0 0.0 0.0"/>
369
+ <axis xyz="0 0 1"/>
370
+ <limit effort="1000" lower="-0.000" upper="1.57" />
371
+
372
+ <dynamics damping="1.0" friction="0.0001"/>
373
+ </joint>
374
+
375
+ <link name="link_fftip">
376
+ <inertial>
377
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
378
+ <mass value="0.00000"/>
379
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
380
+ </inertial>
381
+ </link>
382
+ <!-- Fix Finger joint -->
383
+ <joint name="FFTip" type="fixed">
384
+ <parent link="link_ff_dd_z"/>
385
+ <child link="link_fftip"/>
386
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
387
+ </joint>
388
+
389
+ <!-- MF -->
390
+ <link name="mffixed">
391
+ <inertial>
392
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
393
+ <mass value="0.0"/>
394
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
395
+ </inertial>
396
+ </link>
397
+ <!-- Fix Finger joint -->
398
+ <joint name="Palm_MFJ2" type="fixed">
399
+ <parent link="link_palm_rz"/>
400
+ <child link="mffixed"/>
401
+ <origin xyz="0.0 0.0 0.0"/>
402
+ </joint>
403
+
404
+
405
+ <link name="mfproximal">
406
+ <inertial>
407
+ <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
408
+ <mass value="0.00996"/>
409
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
410
+ </inertial>
411
+ </link>
412
+ <link name="link_mf_pm_y">
413
+ <inertial>
414
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
415
+ <mass value="0.00000"/>
416
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
417
+ </inertial>
418
+ </link>
419
+ <link name="link_mf_pm_z">
420
+ <inertial>
421
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
422
+ <mass value="0.00000"/>
423
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
424
+ </inertial>
425
+ <collision>
426
+ <origin rpy="0.32118629 1.38392244 0.26686409" xyz="-0.01559134 0.00093066 -0.00279725"/>
427
+ <geometry>
428
+ <capsule length="0.031735191602453826" radius="0.009"/>
429
+ </geometry>
430
+ <material name="">
431
+ <contact name="finger"/>
432
+ </material>
433
+ </collision>
434
+ <visual>
435
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
436
+ <geometry>
437
+ <mesh filename="meshes/mfprox_mean.stl" scale="1 1 1"/>
438
+ </geometry>
439
+ <material name="hand_color"/>
440
+ </visual>
441
+
442
+ </link>
443
+ <!-- MF2 proximal joint -->
444
+ <joint name="MFJ2" type="revolute">
445
+ <parent link="mffixed"/>
446
+ <child link="mfproximal"/>
447
+ <origin xyz="-0.0946604 -0.00147896 -0.00335754"/>
448
+ <axis xyz="1 0 0"/>
449
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
450
+
451
+ <dynamics damping="1.0" friction="0.0001"/>
452
+ </joint>
453
+ <joint name="MFJ2_y" type="revolute">
454
+ <parent link="mfproximal"/>
455
+ <child link="link_mf_pm_y"/>
456
+ <origin xyz="0.0 0.0 0.0"/>
457
+ <axis xyz="0 1 0"/>
458
+ <limit effort="1000" lower="-0.8" upper="0.8" />
459
+
460
+ <dynamics damping="1.0" friction="0.0001"/>
461
+ </joint>
462
+ <joint name="MFJ2_z" type="revolute">
463
+ <parent link="link_mf_pm_y"/>
464
+ <child link="link_mf_pm_z"/>
465
+ <origin xyz="0.0 0.0 0.0"/>
466
+ <axis xyz="0 0 1"/>
467
+ <limit effort="1000" lower="-0.0" upper="1.57" />
468
+
469
+ <dynamics damping="1.0" friction="0.0001"/>
470
+ </joint>
471
+
472
+ <link name="mfmiddle">
473
+ <inertial>
474
+ <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
475
+ <mass value="0.00400"/>
476
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
477
+ </inertial>
478
+ </link>
479
+ <link name="link_mf_md_y">
480
+ <inertial>
481
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
482
+ <mass value="0.00000"/>
483
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
484
+ </inertial>
485
+ </link>
486
+ <link name="link_mf_md_z">
487
+ <inertial>
488
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
489
+ <mass value="0.00000"/>
490
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
491
+ </inertial>
492
+ <collision>
493
+ <origin rpy="-0.30736925 1.39204219 -0.25742004" xyz="-0.01145232 -0.00062605 -0.00197226"/>
494
+ <geometry>
495
+ <capsule length="0.023275522107771795" radius="0.0075"/>
496
+ </geometry>
497
+ <material name="">
498
+ <contact name="finger"/>
499
+ </material>
500
+ </collision>
501
+ <visual>
502
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
503
+ <geometry>
504
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="1 1 1"/>
505
+ </geometry>
506
+ <material name="hand_color"/>
507
+ </visual>
508
+ </link>
509
+ <!-- MF1 joint -->
510
+ <joint name="MFJ1" type="revolute">
511
+ <parent link="link_mf_pm_z"/>
512
+ <child link="mfmiddle"/>
513
+ <origin xyz="-0.0311827 0.00186133 -0.00559451"/>
514
+ <axis xyz="1 0 0"/>
515
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
516
+
517
+ <dynamics damping="1.0" friction="0.0001"/>
518
+ </joint>
519
+ <joint name="MFJ1_y" type="revolute">
520
+ <parent link="mfmiddle"/>
521
+ <child link="link_mf_md_y"/>
522
+ <origin xyz="0.0 0.0 0.0"/>
523
+ <axis xyz="0 1 0"/>
524
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
525
+
526
+ <dynamics damping="1.0" friction="0.0001"/>
527
+ </joint>
528
+ <joint name="MFJ1_z" type="revolute">
529
+ <parent link="link_mf_md_y"/>
530
+ <child link="link_mf_md_z"/>
531
+ <origin xyz="0.0 0.0 0.0"/>
532
+ <axis xyz="0 0 1"/>
533
+ <limit effort="1000" lower="-0.000" upper="1.57" />
534
+
535
+ <dynamics damping="1.0" friction="0.0001"/>
536
+ </joint>
537
+
538
+ <link name="mfdistal">
539
+ <inertial>
540
+ <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
541
+ <mass value="0.00289"/>
542
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
543
+ </inertial>
544
+ </link>
545
+ <link name="link_mf_dd_y">
546
+ <inertial>
547
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
548
+ <mass value="0.00000"/>
549
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
550
+ </inertial>
551
+ </link>
552
+ <link name="link_mf_dd_z">
553
+ <inertial>
554
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
555
+ <mass value="0.00000"/>
556
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
557
+ </inertial>
558
+ <collision>
559
+ <origin rpy="-0.21855015 1.36348088 -0.17760409" xyz="-0.01551503 -0.00070755 -0.00318577"/>
560
+ <geometry>
561
+ <capsule length="0.01" radius="0.0075"/>
562
+ </geometry>
563
+ <material name="">
564
+ <contact name="finger"/>
565
+ </material>
566
+ </collision>
567
+ <visual>
568
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
569
+ <geometry>
570
+ <mesh filename="meshes/mfdist_mean.stl" scale="1 1 1"/>
571
+ </geometry>
572
+ <material name="hand_color"/>
573
+ </visual>
574
+ </link>
575
+ <!-- MF0 joint -->
576
+ <joint name="MFJ0" type="revolute">
577
+ <parent link="link_mf_md_z"/>
578
+ <child link="mfdistal"/>
579
+ <origin xyz="-0.0229046 -0.0012521 -0.00394452"/>
580
+ <axis xyz="1 0 0"/>
581
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
582
+
583
+ <dynamics damping="1.0" friction="0.0001"/>
584
+ </joint>
585
+ <joint name="MFJ0_y" type="revolute">
586
+ <parent link="mfdistal"/>
587
+ <child link="link_mf_dd_y"/>
588
+ <origin xyz="0.0 0.0 0.0"/>
589
+ <axis xyz="0 1 0"/>
590
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
591
+
592
+ <dynamics damping="1.0" friction="0.0001"/>
593
+ </joint>
594
+ <joint name="MFJ0_z" type="revolute">
595
+ <parent link="link_mf_dd_y"/>
596
+ <child link="link_mf_dd_z"/>
597
+ <origin xyz="0.0 0.0 0.0"/>
598
+ <axis xyz="0 0 1"/>
599
+ <limit effort="1000" lower="-0.000" upper="1.57" />
600
+
601
+ <dynamics damping="1.0" friction="0.0001"/>
602
+ </joint>
603
+
604
+ <link name="link_mftip">
605
+ <inertial>
606
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
607
+ <mass value="0.00000"/>
608
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
609
+ </inertial>
610
+ </link>
611
+ <!-- Fix Finger joint -->
612
+ <joint name="MFTip" type="fixed">
613
+ <parent link="link_mf_dd_z"/>
614
+ <child link="link_mftip"/>
615
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
616
+
617
+ </joint>
618
+
619
+ <!-- RF -->
620
+ <link name="rffixed">
621
+ <inertial>
622
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
623
+ <mass value="0.0"/>
624
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
625
+ </inertial>
626
+ </link>
627
+
628
+ <!-- Fix Finger joint -->
629
+ <joint name="Palm_RFJ2" type="fixed">
630
+ <parent link="link_palm_rz"/>
631
+ <child link="rffixed"/>
632
+ <origin xyz="0.0 0.0 0.0"/>
633
+ </joint>
634
+
635
+
636
+ <link name="rfproximal">
637
+ <inertial>
638
+ <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
639
+ <mass value="0.00725"/>
640
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
641
+ </inertial>
642
+ </link>
643
+ <link name="link_rf_pm_y">
644
+ <inertial>
645
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
646
+ <mass value="0.00000"/>
647
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
648
+ </inertial>
649
+ </link>
650
+ <link name="link_rf_pm_z">
651
+ <inertial>
652
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
653
+ <mass value="0.00000"/>
654
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
655
+ </inertial>
656
+ <collision>
657
+ <origin rpy=" 0.38516311 1.37888284 0.31878467" xyz="-0.01415714 0.0010335 -0.00254927"/>
658
+ <geometry>
659
+ <capsule length="0.028843811919740826" radius="0.009"/>
660
+ </geometry>
661
+ <material name="">
662
+ <contact name="finger"/>
663
+ </material>
664
+ </collision>
665
+ <visual>
666
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
667
+ <geometry>
668
+ <mesh filename="meshes/rfprox_mean.stl" scale="1 1 1"/>
669
+ </geometry>
670
+ <material name="hand_color"/>
671
+ </visual>
672
+ </link>
673
+ <!-- RF2 proximal joint -->
674
+ <joint name="RFJ2" type="revolute">
675
+ <parent link="rffixed"/>
676
+ <child link="rfproximal"/>
677
+ <origin xyz="-0.0817355 -0.00395742 -0.0266732"/>
678
+ <axis xyz="1 0 0"/>
679
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
680
+
681
+ <dynamics damping="1.0" friction="0.0001"/>
682
+ </joint>
683
+ <joint name="RFJ2_y" type="revolute">
684
+ <parent link="rfproximal"/>
685
+ <child link="link_rf_pm_y"/>
686
+ <origin xyz="0.0 0.0 0.0"/>
687
+ <axis xyz="0 1 0"/>
688
+ <limit effort="1000" lower="-0.8" upper="0.8" />
689
+
690
+ <dynamics damping="1.0" friction="0.0001"/>
691
+ </joint>
692
+ <joint name="RFJ2_z" type="revolute">
693
+ <parent link="link_rf_pm_y"/>
694
+ <child link="link_rf_pm_z"/>
695
+ <origin xyz="0.0 0.0 0.0"/>
696
+ <axis xyz="0 0 1"/>
697
+ <limit effort="1000" lower="-0.0" upper="1.57" />
698
+
699
+ <dynamics damping="1.0" friction="0.0001"/>
700
+ </joint>
701
+
702
+ <link name="rfmiddle">
703
+ <inertial>
704
+ <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
705
+ <mass value="0.00487"/>
706
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
707
+ </inertial>
708
+ </link>
709
+ <link name="link_rf_md_y">
710
+ <inertial>
711
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
712
+ <mass value="0.00000"/>
713
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
714
+ </inertial>
715
+ </link>
716
+ <link name="link_rf_md_z">
717
+ <inertial>
718
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
719
+ <mass value="0.00000"/>
720
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
721
+ </inertial>
722
+ <collision>
723
+ <origin rpy="-0.21763357 1.24988512 -0.15729772" xyz="-0.01176025 -0.00084406 -0.00381691"/>
724
+ <geometry>
725
+ <capsule length="0.024785865310763495" radius="0.0075"/>
726
+ </geometry>
727
+ <material name="">
728
+ <contact name="finger"/>
729
+ </material>
730
+ </collision>
731
+ <visual>
732
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
733
+ <geometry>
734
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="1 1 1"/>
735
+ </geometry>
736
+ <material name="hand_color"/>
737
+ </visual>
738
+ </link>
739
+ <!-- RF1 joint -->
740
+ <joint name="RFJ1" type="revolute">
741
+ <parent link="link_rf_pm_z"/>
742
+ <child link="rfmiddle"/>
743
+ <origin xyz="-0.0283143 0.00206701 -0.00509854"/>
744
+ <axis xyz="1 0 0"/>
745
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
746
+
747
+ <dynamics damping="1.0" friction="0.0001"/>
748
+ </joint>
749
+ <joint name="RFJ1_y" type="revolute">
750
+ <parent link="rfmiddle"/>
751
+ <child link="link_rf_md_y"/>
752
+ <origin xyz="0.0 0.0 0.0"/>
753
+ <axis xyz="0 1 0"/>
754
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
755
+
756
+ <dynamics damping="1.0" friction="0.0001"/>
757
+ </joint>
758
+ <joint name="RFJ1_z" type="revolute">
759
+ <parent link="link_rf_md_y"/>
760
+ <child link="link_rf_md_z"/>
761
+ <origin xyz="0.0 0.0 0.0"/>
762
+ <axis xyz="0 0 1"/>
763
+ <limit effort="1000" lower="-0.000" upper="1.57" />
764
+
765
+ <dynamics damping="1.0" friction="0.0001"/>
766
+ </joint>
767
+
768
+ <link name="rfdistal">
769
+ <inertial>
770
+ <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
771
+ <mass value="0.00272"/>
772
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
773
+ </inertial>
774
+ </link>
775
+ <link name="link_rf_dd_y">
776
+ <inertial>
777
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
778
+ <mass value="0.00000"/>
779
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
780
+ </inertial>
781
+ </link>
782
+ <link name="link_rf_dd_z">
783
+ <inertial>
784
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
785
+ <mass value="0.00000"/>
786
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
787
+ </inertial>
788
+ <collision>
789
+ <origin rpy="0.43325752 1.27456581 0.32302802" xyz="-0.01460212 0.00187106 -0.00404494"/>
790
+ <geometry>
791
+ <capsule length="0.01" radius="0.0075"/>
792
+ </geometry>
793
+ <material name="">
794
+ <contact name="finger"/>
795
+ </material>
796
+ </collision>
797
+ <visual>
798
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
799
+ <geometry>
800
+ <mesh filename="meshes/rfdist_mean.stl" scale="1 1 1"/>
801
+ </geometry>
802
+ <material name="hand_color"/>
803
+ </visual>
804
+ </link>
805
+ <!-- RF0 joint -->
806
+ <joint name="RFJ0" type="revolute">
807
+ <parent link="link_rf_md_z"/>
808
+ <child link="rfdistal"/>
809
+ <origin xyz="-0.0235205 -0.00168811 -0.00763382"/>
810
+ <axis xyz="1 0 0"/>
811
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
812
+
813
+ <dynamics damping="1.0" friction="0.0001"/>
814
+ </joint>
815
+ <joint name="RFJ0_y" type="revolute">
816
+ <parent link="rfdistal"/>
817
+ <child link="link_rf_dd_y"/>
818
+ <origin xyz="0.0 0.0 0.0"/>
819
+ <axis xyz="0 1 0"/>
820
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
821
+
822
+ <dynamics damping="1.0" friction="0.0001"/>
823
+ </joint>
824
+ <joint name="RFJ0_z" type="revolute">
825
+ <parent link="link_rf_dd_y"/>
826
+ <child link="link_rf_dd_z"/>
827
+ <origin xyz="0.0 0.0 0.0"/>
828
+ <axis xyz="0 0 1"/>
829
+ <limit effort="1000" lower="-0.000" upper="1.57" />
830
+
831
+ <dynamics damping="1.0" friction="0.0001"/>
832
+ </joint>
833
+
834
+ <link name="link_rftip">
835
+ <inertial>
836
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
837
+ <mass value="0.00000"/>
838
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
839
+ </inertial>
840
+ </link>
841
+ <!-- Fix Finger joint -->
842
+ <joint name="RFTip" type="fixed">
843
+ <parent link="link_rf_dd_z"/>
844
+ <child link="link_rftip"/>
845
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
846
+ </joint>
847
+
848
+ <!-- LF -->
849
+ <link name="lffixed">
850
+ <inertial>
851
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
852
+ <mass value="0.0"/>
853
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
854
+ </inertial>
855
+ </link>
856
+ <!-- Fix Finger joint -->
857
+ <joint name="Palm_LFJ2" type="fixed">
858
+ <parent link="link_palm_rz"/>
859
+ <child link="lffixed"/>
860
+ <origin xyz="0.0 0.0 0.0"/>
861
+ </joint>
862
+
863
+
864
+ <link name="lfproximal">
865
+ <inertial>
866
+ <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
867
+ <mass value="0.00416"/>
868
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
869
+ </inertial>
870
+ </link>
871
+ <link name="link_lf_pm_y">
872
+ <inertial>
873
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
874
+ <mass value="0.00000"/>
875
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
876
+ </inertial>
877
+ </link>
878
+ <link name="link_lf_pm_z">
879
+ <inertial>
880
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
881
+ <mass value="0.00000"/>
882
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
883
+ </inertial>
884
+ <collision>
885
+ <origin rpy="0.00494643 0.93721839 0.00250398" xyz="-8.50720331e-03 3.09124589e-05 -6.24939241e-03"/>
886
+ <geometry>
887
+ <capsule length="0.0211119273571839" radius="0.009"/>
888
+ </geometry>
889
+ <material name="">
890
+ <contact name="finger"/>
891
+ </material>
892
+ </collision>
893
+ <visual>
894
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
895
+ <geometry>
896
+ <mesh filename="meshes/lfprox_mean.stl" scale="1 1 1"/>
897
+ </geometry>
898
+ <material name="hand_color"/>
899
+ </visual>
900
+ </link>
901
+ <!-- LF2 proximal joint -->
902
+ <joint name="LFJ2" type="revolute">
903
+ <parent link="lffixed"/>
904
+ <child link="lfproximal"/>
905
+ <origin xyz="-0.0687869 -0.00994033 -0.0432093"/>
906
+ <axis xyz="1 0 0"/>
907
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
908
+
909
+ <dynamics damping="1.0" friction="0.0001"/>
910
+ </joint>
911
+ <joint name="LFJ2_y" type="revolute">
912
+ <parent link="lfproximal"/>
913
+ <child link="link_lf_pm_y"/>
914
+ <origin xyz="0.0 0.0 0.0"/>
915
+ <axis xyz="0 1 0"/>
916
+ <limit effort="1000" lower="-0.8" upper="0.8" />
917
+
918
+ <dynamics damping="1.0" friction="0.0001"/>
919
+ </joint>
920
+ <joint name="LFJ2_z" type="revolute">
921
+ <parent link="link_lf_pm_y"/>
922
+ <child link="link_lf_pm_z"/>
923
+ <origin xyz="0.0 0.0 0.0"/>
924
+ <axis xyz="0 0 1"/>
925
+ <limit effort="1000" lower="-0.0" upper="1.57" />
926
+
927
+ <dynamics damping="1.0" friction="0.0001"/>
928
+ </joint>
929
+
930
+ <link name="lfmiddle">
931
+ <inertial>
932
+ <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
933
+ <mass value="0.00269"/>
934
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
935
+ </inertial>
936
+ </link>
937
+ <link name="link_lf_md_y">
938
+ <inertial>
939
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
940
+ <mass value="0.00000"/>
941
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
942
+ </inertial>
943
+ </link>
944
+ <link name="link_lf_md_z">
945
+ <inertial>
946
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
947
+ <mass value="0.00000"/>
948
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
949
+ </inertial>
950
+ <collision>
951
+ <origin rpy="-0.06679566 0.99258405 -0.0361792" xyz="-0.00793345 -0.00034558 -0.00516596"/>
952
+ <geometry>
953
+ <capsule length="0.018946892889554656" radius="0.0075"/>
954
+ </geometry>
955
+ <material name="">
956
+ <contact name="finger"/>
957
+ </material>
958
+ </collision>
959
+ <visual>
960
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
961
+ <geometry>
962
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="1 1 1"/>
963
+ </geometry>
964
+ <material name="hand_color"/>
965
+ </visual>
966
+ </link>
967
+ <!-- LF1 joint -->
968
+ <joint name="LFJ1" type="revolute">
969
+ <parent link="link_lf_pm_z"/>
970
+ <child link="lfmiddle"/>
971
+ <origin xyz="-0.0170144 6.18249e-05 -0.0124988"/>
972
+ <axis xyz="1 0 0"/>
973
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
974
+
975
+ <dynamics damping="1.0" friction="0.0001"/>
976
+ </joint>
977
+ <joint name="LFJ1_y" type="revolute">
978
+ <parent link="lfmiddle"/>
979
+ <child link="link_lf_md_y"/>
980
+ <origin xyz="0.0 0.0 0.0"/>
981
+ <axis xyz="0 1 0"/>
982
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
983
+
984
+ <dynamics damping="1.0" friction="0.0001"/>
985
+ </joint>
986
+ <joint name="LFJ1_z" type="revolute">
987
+ <parent link="link_lf_md_y"/>
988
+ <child link="link_lf_md_z"/>
989
+ <origin xyz="0.0 0.0 0.0"/>
990
+ <axis xyz="0 0 1"/>
991
+ <limit effort="1000" lower="-0.000" upper="1.57" />
992
+
993
+ <dynamics damping="1.0" friction="0.0001"/>
994
+ </joint>
995
+
996
+ <link name="lfdistal">
997
+ <inertial>
998
+ <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
999
+ <mass value="0.00150"/>
1000
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1001
+ </inertial>
1002
+ </link>
1003
+ <link name="link_lf_dd_y">
1004
+ <inertial>
1005
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1006
+ <mass value="0.00000"/>
1007
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1008
+ </inertial>
1009
+ </link>
1010
+ <link name="link_lf_dd_z">
1011
+ <inertial>
1012
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1013
+ <mass value="0.00000"/>
1014
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1015
+ </inertial>
1016
+ <collision>
1017
+ <origin rpy="0.22194785 1.02909336 0.12582808" xyz="-0.00977975 0.00129545 -0.00574058"/>
1018
+ <geometry>
1019
+ <capsule length="0.007" radius="0.0065"/>
1020
+ </geometry>
1021
+ <material name="">
1022
+ <contact name="finger"/>
1023
+ </material>
1024
+ </collision>
1025
+ <visual>
1026
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1027
+ <geometry>
1028
+ <mesh filename="meshes/lfdist_mean.stl" scale="1 1 1"/>
1029
+ </geometry>
1030
+ <material name="hand_color"/>
1031
+ </visual>
1032
+ </link>
1033
+ <!-- LF0 joint -->
1034
+ <joint name="LFJ0" type="revolute">
1035
+ <parent link="link_lf_md_z"/>
1036
+ <child link="lfdistal"/>
1037
+ <origin xyz="-0.0158669 -0.000691155 -0.0103319"/>
1038
+ <axis xyz="1 0 0"/>
1039
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1040
+
1041
+ <dynamics damping="1.0" friction="0.0001"/>
1042
+ </joint>
1043
+ <joint name="LFJ0_y" type="revolute">
1044
+ <parent link="lfdistal"/>
1045
+ <child link="link_lf_dd_y"/>
1046
+ <origin xyz="0.0 0.0 0.0"/>
1047
+ <axis xyz="0 1 0"/>
1048
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1049
+
1050
+ <dynamics damping="1.0" friction="0.0001"/>
1051
+ </joint>
1052
+ <joint name="LFJ0_z" type="revolute">
1053
+ <parent link="link_lf_dd_y"/>
1054
+ <child link="link_lf_dd_z"/>
1055
+ <origin xyz="0.0 0.0 0.0"/>
1056
+ <axis xyz="0 0 1"/>
1057
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1058
+
1059
+ <dynamics damping="1.0" friction="0.0001"/>
1060
+ </joint>
1061
+ <link name="link_lftip">
1062
+ <inertial>
1063
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1064
+ <mass value="0.00000"/>
1065
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1066
+ </inertial>
1067
+ </link>
1068
+ <!-- Fix Finger joint -->
1069
+ <joint name="LFTip" type="fixed">
1070
+ <parent link="link_lf_dd_z"/>
1071
+ <child link="link_lftip"/>
1072
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
1073
+ </joint>
1074
+
1075
+
1076
+ <!-- TH -->
1077
+ <link name="thfixed">
1078
+ <inertial>
1079
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1080
+ <mass value="0.0"/>
1081
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1082
+ </inertial>
1083
+ </link>
1084
+ <!-- Fix Finger joint -->
1085
+ <joint name="Palm_THJ2" type="fixed">
1086
+ <parent link="link_palm_rz"/>
1087
+ <child link="thfixed"/>
1088
+ <origin xyz="0.0 0.0 0.0"/>
1089
+ </joint>
1090
+
1091
+
1092
+ <link name="thproximal">
1093
+ <inertial>
1094
+ <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
1095
+ <mass value="0.01392"/>
1096
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1097
+ </inertial>
1098
+ </link>
1099
+ <link name="link_th_pm_y">
1100
+ <inertial>
1101
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1102
+ <mass value="0.00000"/>
1103
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1104
+ </inertial>
1105
+ </link>
1106
+ <link name="link_th_pm_z">
1107
+ <inertial>
1108
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1109
+ <mass value="0.00000"/>
1110
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1111
+ </inertial>
1112
+ <collision>
1113
+ <origin rpy="3.10400265 0.69148607 3.03731965" xyz="-0.00981662 0.00044564 0.01184977"/>
1114
+ <geometry>
1115
+ <capsule length="0.030788427516318044" radius="0.01"/>
1116
+ </geometry>
1117
+ </collision>
1118
+ <material name="">
1119
+ <contact name="finger"/>
1120
+ </material>
1121
+ <visual>
1122
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1123
+ <geometry>
1124
+ <mesh filename="meshes/thprox_mean.stl" scale="1 1 1"/>
1125
+ </geometry>
1126
+ <material name="hand_color"/>
1127
+ </visual>
1128
+ </link>
1129
+ <!-- TH2 proximal joint -->
1130
+ <joint name="THJ2" type="revolute">
1131
+ <parent link="thfixed"/>
1132
+ <child link="thproximal"/>
1133
+ <origin xyz="-0.0240897 -0.0155223 0.0258128"/>
1134
+ <axis xyz="1 0 0"/>
1135
+ <limit effort="1000" lower="0" upper="1.57" />
1136
+ <dynamics damping="1.0" friction="0.0001"/>
1137
+ </joint>
1138
+ <joint name="THJ2_y" type="revolute">
1139
+ <parent link="thproximal"/>
1140
+ <child link="link_th_pm_y"/>
1141
+ <origin xyz="0.0 0.0 0.0"/>
1142
+ <axis xyz="0 1 0"/>
1143
+ <limit effort="1000" lower="-0.8" upper="0.8" />
1144
+ <dynamics damping="1.0" friction="0.0001"/>
1145
+ </joint>
1146
+ <joint name="THJ2_z" type="revolute">
1147
+ <parent link="link_th_pm_y"/>
1148
+ <child link="link_th_pm_z"/>
1149
+ <origin xyz="0.0 0.0 0.0"/>
1150
+ <axis xyz="0 0 1"/>
1151
+ <limit effort="1000" lower="-0.25" upper="0.25" />
1152
+ <dynamics damping="1.0" friction="0.0001"/>
1153
+ </joint>
1154
+
1155
+ <link name="thmiddle">
1156
+ <inertial>
1157
+ <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
1158
+ <mass value="0.00802"/>
1159
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1160
+ </inertial>
1161
+ </link>
1162
+ <link name="link_th_md_y">
1163
+ <inertial>
1164
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1165
+ <mass value="0.00000"/>
1166
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1167
+ </inertial>
1168
+ </link>
1169
+ <link name="link_th_md_z">
1170
+ <inertial>
1171
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1172
+ <mass value="0.00000"/>
1173
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1174
+ </inertial>
1175
+ <collision>
1176
+ <origin rpy=" -2.78364168 0.96144328 -2.47379542" xyz="-0.01110887 -0.00271648 0.00726206"/>
1177
+ <geometry>
1178
+ <capsule length="0.02709418497996566" radius="0.01"/>
1179
+ </geometry>
1180
+ <material name="">
1181
+ <contact name="finger"/>
1182
+ </material>
1183
+ </collision>
1184
+ <visual>
1185
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1186
+ <geometry>
1187
+ <mesh filename="meshes/thmiddle_mean.stl" scale="1 1 1"/>
1188
+ </geometry>
1189
+ <material name="hand_color"/>
1190
+ </visual>
1191
+ </link>
1192
+ <!-- TH1 joint -->
1193
+ <joint name="THJ1" type="revolute">
1194
+ <parent link="link_th_pm_z"/>
1195
+ <child link="thmiddle"/>
1196
+ <origin xyz="-0.0196332 0.000891286 0.0236995"/>
1197
+ <axis xyz="1 0 0"/>
1198
+ <limit effort="1000" lower="-1" upper="1" />
1199
+ <dynamics damping="1.0" friction="0.0001"/>
1200
+ </joint>
1201
+ <joint name="THJ1_y" type="revolute">
1202
+ <parent link="thmiddle"/>
1203
+ <child link="link_th_md_y"/>
1204
+ <origin xyz="0.0 0.0 0.0"/>
1205
+ <axis xyz="0 1 0"/>
1206
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1207
+ <dynamics damping="1.0" friction="0.0001"/>
1208
+ </joint>
1209
+ <joint name="THJ1_z" type="revolute">
1210
+ <parent link="link_th_md_y"/>
1211
+ <child link="link_th_md_z"/>
1212
+ <origin xyz="0.0 0.0 0.0"/>
1213
+ <axis xyz="0 0 1"/>
1214
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1215
+ <dynamics damping="1.0" friction="0.0001"/>
1216
+ </joint>
1217
+
1218
+ <link name="thdistal">
1219
+ <inertial>
1220
+ <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
1221
+ <mass value="0.00726"/>
1222
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1223
+ </inertial>
1224
+ </link>
1225
+ <link name="link_th_dd_y">
1226
+ <inertial>
1227
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1228
+ <mass value="0.00000"/>
1229
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1230
+ </inertial>
1231
+ </link>
1232
+ <link name="link_th_dd_z">
1233
+ <inertial>
1234
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1235
+ <mass value="0.00000"/>
1236
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1237
+ </inertial>
1238
+ <collision>
1239
+ <origin rpy="-2.83317999 0.97259243 -2.56963586" xyz="-0.01577465 -0.00326327 0.01024323"/>
1240
+ <geometry>
1241
+ <capsule length="0.02" radius="0.01"/>
1242
+ </geometry>
1243
+ <material name="">
1244
+ <contact name="finger"/>
1245
+ </material>
1246
+ </collision>
1247
+ <visual>
1248
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1249
+ <geometry>
1250
+ <mesh filename="meshes/thdist_mean.stl" scale="1 1 1"/>
1251
+ </geometry>
1252
+ <material name="hand_color"/>
1253
+ </visual>
1254
+ </link>
1255
+ <!-- TH0 joint -->
1256
+ <joint name="THJ0" type="revolute">
1257
+ <parent link="link_th_md_z"/>
1258
+ <child link="thdistal"/>
1259
+ <origin xyz="-0.0222177 -0.00543297 0.0145241"/>
1260
+ <axis xyz="1 0 0"/>
1261
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1262
+ <dynamics damping="1.0" friction="0.0001"/>
1263
+ </joint>
1264
+ <joint name="THJ0_y" type="revolute">
1265
+ <parent link="thdistal"/>
1266
+ <child link="link_th_dd_y"/>
1267
+ <origin xyz="0.0 0.0 0.0"/>
1268
+ <axis xyz="0 1 0"/>
1269
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1270
+
1271
+ <dynamics damping="1.0" friction="0.0001"/>
1272
+ </joint>
1273
+ <joint name="THJ0_z" type="revolute">
1274
+ <parent link="link_th_dd_y"/>
1275
+ <child link="link_th_dd_z"/>
1276
+ <origin xyz="0.0 0.0 0.0"/>
1277
+ <axis xyz="0 0 1"/>
1278
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1279
+
1280
+ <dynamics damping="1.0" friction="0.0001"/>
1281
+ </joint>
1282
+ <link name="link_thtip">
1283
+ <inertial>
1284
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1285
+ <mass value="0.00000"/>
1286
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1287
+ </inertial>
1288
+ </link>
1289
+ <!-- Fix Finger joint -->
1290
+ <joint name="THTip" type="fixed">
1291
+ <parent link="link_th_dd_z"/>
1292
+ <child link="link_thtip"/>
1293
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1294
+ </joint>
1295
+
1296
+
1297
+ </robot>
rsc/mano/mano_mean_meshcoll.urdf ADDED
@@ -0,0 +1,1272 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="mano">
3
+
4
+
5
+
6
+ <link name="world"> </link>
7
+
8
+ <joint name="world_to_base" type="fixed">
9
+ <axis xyz="0 0 0"/>
10
+ <origin xyz="0.0 0.0 0.0"/>
11
+ <parent link="world"/>
12
+ <child link="sliderBar"/>
13
+ </joint>
14
+
15
+ <link name="sliderBar">
16
+ <inertial>
17
+ <mass value="0"/>
18
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
19
+ </inertial>
20
+ </link>
21
+
22
+ <!--
23
+ Palm
24
+ -->
25
+ <!-- Palm -->
26
+ <link name="palm">
27
+ <inertial>
28
+ <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/>
29
+ <mass value="0.05042"/>
30
+ <inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/>
31
+ </inertial>
32
+ </link>
33
+
34
+ <link name="link_palm_y">
35
+ <inertial>
36
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
37
+ <mass value="0.00000"/>
38
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
39
+ </inertial>
40
+ </link>
41
+ <link name="link_palm_z">
42
+ <inertial>
43
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
44
+ <mass value="0.00000"/>
45
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
46
+ </inertial>
47
+ </link>
48
+ <link name="link_palm_rx">
49
+ <inertial>
50
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
51
+ <mass value="0.00000"/>
52
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
53
+ </inertial>
54
+ </link>
55
+ <link name="link_palm_ry">
56
+ <inertial>
57
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
58
+ <mass value="0.00000"/>
59
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
60
+ </inertial>
61
+ </link>
62
+ <link name="link_palm_rz">
63
+ <inertial>
64
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
65
+ <mass value="0.00000"/>
66
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
67
+ </inertial>
68
+ <visual>
69
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
70
+ <geometry>
71
+ <mesh filename="meshes/palm_mean.obj" scale="1 1 1"/>
72
+ </geometry>
73
+ </visual>
74
+ <collision>
75
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
76
+ <geometry>
77
+ <mesh filename="meshes/palm_mean.obj" scale="1 1 1"/>
78
+ </geometry>
79
+ <material name="">
80
+ <contact name="finger"/>
81
+ </material>
82
+ </collision>
83
+ </link>
84
+ <!-- Hip joint -->
85
+ <joint name="WRJ0x" type="prismatic">
86
+ <parent link="sliderBar"/>
87
+ <child link="palm"/>
88
+ <origin xyz="0.0 0.0 0.0"/>
89
+ <axis xyz="1 0 0"/>
90
+ <limit effort="100.0" lower="-0.5" upper="0.5" />
91
+ <dynamics damping="10.0" friction="0.0001"/>
92
+ </joint>
93
+ <joint name="WRJ0y" type="prismatic">
94
+ <parent link="palm"/>
95
+ <child link="link_palm_y"/>
96
+ <origin xyz="0.0 0.0 0.0"/>
97
+ <axis xyz="0 1 0"/>
98
+ <limit effort="100.0" lower="-0.5" upper="0.5" />
99
+ <dynamics damping="10.0" friction="0.0001"/>
100
+ </joint>
101
+ <joint name="WRJ0z" type="prismatic">
102
+ <parent link="link_palm_y"/>
103
+ <child link="link_palm_z"/>
104
+ <origin xyz="0.0 0.0 0.0"/>
105
+ <axis xyz="0 0 1"/>
106
+ <limit effort="100.0" lower="-0.5" upper="0.5"/>
107
+ <dynamics damping="10.0" friction="0.0001"/>
108
+ </joint>
109
+ <joint name="WRJ0rx" type="revolute">
110
+ <parent link="link_palm_z"/>
111
+ <child link="link_palm_rx"/>
112
+ <origin xyz="0.0 0.0 0.0"/>
113
+ <axis xyz="1 0 0"/>
114
+ <limit effort="1000" lower="-3.14" upper="3.14" />
115
+
116
+ <dynamics damping="1.0" friction="0.0001"/>
117
+ </joint>
118
+ <joint name="WRJ0ry" type="revolute">
119
+ <parent link="link_palm_rx"/>
120
+ <child link="link_palm_ry"/>
121
+ <origin xyz="0.0 0.0 0.0"/>
122
+ <axis xyz="0 1 0"/>
123
+ <limit effort="1000" lower="-3.14" upper="3.14" />
124
+
125
+ <dynamics damping="1.0" friction="0.0001"/>
126
+ </joint>
127
+ <joint name="WRJ0rz" type="revolute">
128
+ <parent link="link_palm_ry"/>
129
+ <child link="link_palm_rz"/>
130
+ <origin xyz="0.0 0.0 0.0"/>
131
+ <axis xyz="0 0 1"/>
132
+ <limit effort="1000" lower="-3.14" upper="3.14" />
133
+ <dynamics damping="1.0" friction="0.0001"/>
134
+ </joint>
135
+
136
+
137
+ <!-- FF -->
138
+ <link name="fffixed">
139
+ <inertial>
140
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
141
+ <mass value="0.0"/>
142
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
143
+ </inertial>
144
+ </link>
145
+ <!-- Fix Finger joint -->
146
+ <joint name="Palm_FFJ2" type="fixed">
147
+ <parent link="link_palm_rz"/>
148
+ <child link="fffixed"/>
149
+ <origin xyz="0.0 0.0 0.0"/>
150
+ </joint>
151
+
152
+
153
+ <link name="ffproximal">
154
+ <inertial>
155
+ <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
156
+ <mass value="0.00845"/>
157
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
158
+ </inertial>
159
+ </link>
160
+ <link name="link_ff_pm_y">
161
+ <inertial>
162
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
163
+ <mass value="0.00000"/>
164
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
165
+ </inertial>
166
+ </link>
167
+ <link name="link_ff_pm_z">
168
+ <inertial>
169
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
170
+ <mass value="0.00000"/>
171
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
172
+ </inertial>
173
+ <collision>
174
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
175
+ <geometry>
176
+ <mesh filename="meshes/ffprox_mean.obj" scale="1 1 1"/>
177
+ </geometry>
178
+ <material name="">
179
+ <contact name="finger"/>
180
+ </material>
181
+ </collision>
182
+ <visual>
183
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
184
+ <geometry>
185
+ <mesh filename="meshes/ffprox_mean.obj" scale="1 1 1"/>
186
+ </geometry>
187
+ </visual>
188
+ </link>
189
+ <!-- FF2 proximal joint -->
190
+ <joint name="FFJ2" type="revolute">
191
+ <parent link="fffixed"/>
192
+ <child link="ffproximal"/>
193
+ <origin xyz="-0.0880972 -0.00520036 0.020686"/>
194
+ <axis xyz="1 0 0"/>
195
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
196
+
197
+ <dynamics damping="1.0" friction="0.0001"/>
198
+ </joint>
199
+ <joint name="FFJ2_y" type="revolute">
200
+ <parent link="ffproximal"/>
201
+ <child link="link_ff_pm_y"/>
202
+ <origin xyz="0 0 0"/>
203
+ <axis xyz="0 1 0"/>
204
+ <limit effort="1000" lower="-0.8" upper="0.8" />
205
+
206
+ <dynamics damping="1.0" friction="0.0001"/>
207
+ </joint>
208
+ <joint name="FFJ2_z" type="revolute">
209
+ <parent link="link_ff_pm_y"/>
210
+ <child link="link_ff_pm_z"/>
211
+ <origin xyz="0 0 0"/>
212
+ <axis xyz="0 0 1"/>
213
+ <limit effort="1000" lower="-0.0" upper="1.57" />
214
+
215
+ <dynamics damping="1.0" friction="0.0001"/>
216
+ </joint>
217
+
218
+ <link name="ffmiddle_fixed">
219
+ <inertial>
220
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
221
+ <mass value="0.0"/>
222
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
223
+ </inertial>
224
+ </link>
225
+ <link name="ffmiddle">
226
+ <inertial>
227
+ <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
228
+ <mass value="0.00413"/>
229
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
230
+ </inertial>
231
+ </link>
232
+ <link name="link_ff_md_y">
233
+ <inertial>
234
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
235
+ <mass value="0.00000"/>
236
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
237
+ </inertial>
238
+ </link>
239
+ <link name="link_ff_md_z">
240
+ <inertial>
241
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
242
+ <mass value="0.00000"/>
243
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
244
+ </inertial>
245
+ <collision>
246
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
247
+ <geometry>
248
+ <mesh filename="meshes/ffmiddle_mean.obj" scale="1 1 1"/>
249
+ </geometry>
250
+ <material name="">
251
+ <contact name="finger"/>
252
+ </material>
253
+ </collision>
254
+ <visual>
255
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
256
+ <geometry>
257
+ <mesh filename="meshes/ffmiddle_mean.obj" scale="1 1 1"/>
258
+ </geometry>
259
+ </visual>
260
+ </link>
261
+ <!-- FF1 joint -->
262
+ <joint name="FFJ1_f" type="fixed">
263
+ <parent link="link_ff_pm_z"/>
264
+ <child link="ffmiddle_fixed"/>
265
+ <origin xyz="-0.0326789 0.00400935 0.00221706"/>
266
+ <axis xyz="1 0 0"/>
267
+ </joint>
268
+ <joint name="FFJ1" type="revolute">
269
+ <parent link="ffmiddle_fixed"/>
270
+ <child link="ffmiddle"/>
271
+ <origin xyz="0.0 0.0 0.0"/>
272
+ <axis xyz="1 0 0"/>
273
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
274
+
275
+ <dynamics damping="1.0" friction="0.0001"/>
276
+ </joint>
277
+ <joint name="FFJ1_y" type="revolute">
278
+ <parent link="ffmiddle"/>
279
+ <child link="link_ff_md_y"/>
280
+ <origin xyz="0.0 0.0 0.0"/>
281
+ <axis xyz="0 1 0"/>
282
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
283
+
284
+ <dynamics damping="1.0" friction="0.0001"/>
285
+ </joint>
286
+ <joint name="FFJ1_z" type="revolute">
287
+ <parent link="link_ff_md_y"/>
288
+ <child link="link_ff_md_z"/>
289
+ <origin xyz="0.0 0.0 0.0"/>
290
+ <axis xyz="0 0 1"/>
291
+ <limit effort="1000" lower="-0.5000" upper="1.57" />
292
+
293
+ <dynamics damping="1.0" friction="0.0001"/>
294
+ </joint>
295
+
296
+ <link name="ffdistal">
297
+ <inertial>
298
+ <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
299
+ <mass value="0.00293"/>
300
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
301
+ </inertial>
302
+ </link>
303
+ <link name="link_ff_dd_y">
304
+ <inertial>
305
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
306
+ <mass value="0.00000"/>
307
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
308
+ </inertial>
309
+ </link>
310
+ <link name="link_ff_dd_z">
311
+ <inertial>
312
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
313
+ <mass value="0.00000"/>
314
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
315
+ </inertial>
316
+ <collision>
317
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
318
+ <geometry>
319
+ <mesh filename="meshes/ffdist_mean.obj" scale="1 1 1"/>
320
+ </geometry>
321
+ <material name="">
322
+ <contact name="finger"/>
323
+ </material>
324
+ </collision>
325
+ <visual>
326
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
327
+ <geometry>
328
+ <mesh filename="meshes/ffdist_mean.obj" scale="1 1 1"/>
329
+ </geometry>
330
+ </visual>
331
+ </link>
332
+ <!-- FF1 joint -->
333
+ <joint name="FFJ0" type="revolute">
334
+ <parent link="link_ff_md_z"/>
335
+ <child link="ffdistal"/>
336
+ <origin xyz="-0.0221559 -0.00129842 -0.000114109"/>
337
+ <axis xyz="1 0 0"/>
338
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
339
+
340
+ <dynamics damping="1.0" friction="0.0001"/>
341
+ </joint>
342
+ <joint name="FFJ0_y" type="revolute">
343
+ <parent link="ffdistal"/>
344
+ <child link="link_ff_dd_y"/>
345
+ <origin xyz="0.0 0.0 0.0"/>
346
+ <axis xyz="0 1 0"/>
347
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
348
+
349
+ <dynamics damping="1.0" friction="0.0001"/>
350
+ </joint>
351
+ <joint name="FFJ0_z" type="revolute">
352
+ <parent link="link_ff_dd_y"/>
353
+ <child link="link_ff_dd_z"/>
354
+ <origin xyz="0.0 0.0 0.0"/>
355
+ <axis xyz="0 0 1"/>
356
+ <limit effort="1000" lower="-0.000" upper="1.57" />
357
+
358
+ <dynamics damping="1.0" friction="0.0001"/>
359
+ </joint>
360
+
361
+ <link name="link_fftip">
362
+ <inertial>
363
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
364
+ <mass value="0.00000"/>
365
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
366
+ </inertial>
367
+ </link>
368
+ <!-- Fix Finger joint -->
369
+ <joint name="FFTip" type="fixed">
370
+ <parent link="link_ff_dd_z"/>
371
+ <child link="link_fftip"/>
372
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
373
+ </joint>
374
+
375
+ <!-- MF -->
376
+ <link name="mffixed">
377
+ <inertial>
378
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
379
+ <mass value="0.0"/>
380
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
381
+ </inertial>
382
+ </link>
383
+ <!-- Fix Finger joint -->
384
+ <joint name="Palm_MFJ2" type="fixed">
385
+ <parent link="link_palm_rz"/>
386
+ <child link="mffixed"/>
387
+ <origin xyz="0.0 0.0 0.0"/>
388
+ </joint>
389
+
390
+
391
+ <link name="mfproximal">
392
+ <inertial>
393
+ <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
394
+ <mass value="0.00996"/>
395
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
396
+ </inertial>
397
+ </link>
398
+ <link name="link_mf_pm_y">
399
+ <inertial>
400
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
401
+ <mass value="0.00000"/>
402
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
403
+ </inertial>
404
+ </link>
405
+ <link name="link_mf_pm_z">
406
+ <inertial>
407
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
408
+ <mass value="0.00000"/>
409
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
410
+ </inertial>
411
+ <collision>
412
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
413
+ <geometry>
414
+ <mesh filename="meshes/mfprox_mean.obj" scale="1 1 1"/>
415
+ </geometry>
416
+ <material name="">
417
+ <contact name="finger"/>
418
+ </material>
419
+ </collision>
420
+ <visual>
421
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
422
+ <geometry>
423
+ <mesh filename="meshes/mfprox_mean.obj" scale="1 1 1"/>
424
+ </geometry>
425
+ </visual>
426
+
427
+ </link>
428
+ <!-- MF2 proximal joint -->
429
+ <joint name="MFJ2" type="revolute">
430
+ <parent link="mffixed"/>
431
+ <child link="mfproximal"/>
432
+ <origin xyz="-0.0946604 -0.00147896 -0.00335754"/>
433
+ <axis xyz="1 0 0"/>
434
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
435
+
436
+ <dynamics damping="1.0" friction="0.0001"/>
437
+ </joint>
438
+ <joint name="MFJ2_y" type="revolute">
439
+ <parent link="mfproximal"/>
440
+ <child link="link_mf_pm_y"/>
441
+ <origin xyz="0.0 0.0 0.0"/>
442
+ <axis xyz="0 1 0"/>
443
+ <limit effort="1000" lower="-0.8" upper="0.8" />
444
+
445
+ <dynamics damping="1.0" friction="0.0001"/>
446
+ </joint>
447
+ <joint name="MFJ2_z" type="revolute">
448
+ <parent link="link_mf_pm_y"/>
449
+ <child link="link_mf_pm_z"/>
450
+ <origin xyz="0.0 0.0 0.0"/>
451
+ <axis xyz="0 0 1"/>
452
+ <limit effort="1000" lower="-0.0" upper="1.57" />
453
+
454
+ <dynamics damping="1.0" friction="0.0001"/>
455
+ </joint>
456
+
457
+ <link name="mfmiddle">
458
+ <inertial>
459
+ <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
460
+ <mass value="0.00400"/>
461
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
462
+ </inertial>
463
+ </link>
464
+ <link name="link_mf_md_y">
465
+ <inertial>
466
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
467
+ <mass value="0.00000"/>
468
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
469
+ </inertial>
470
+ </link>
471
+ <link name="link_mf_md_z">
472
+ <inertial>
473
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
474
+ <mass value="0.00000"/>
475
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
476
+ </inertial>
477
+ <collision>
478
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
479
+ <geometry>
480
+ <mesh filename="meshes/mfmiddle_mean.obj" scale="1 1 1"/>
481
+ </geometry>
482
+ <material name="">
483
+ <contact name="finger"/>
484
+ </material>
485
+ </collision>
486
+ <visual>
487
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
488
+ <geometry>
489
+ <mesh filename="meshes/mfmiddle_mean.obj" scale="1 1 1"/>
490
+ </geometry>
491
+ </visual>
492
+ </link>
493
+ <!-- MF1 joint -->
494
+ <joint name="MFJ1" type="revolute">
495
+ <parent link="link_mf_pm_z"/>
496
+ <child link="mfmiddle"/>
497
+ <origin xyz="-0.0311827 0.00186133 -0.00559451"/>
498
+ <axis xyz="1 0 0"/>
499
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
500
+
501
+ <dynamics damping="1.0" friction="0.0001"/>
502
+ </joint>
503
+ <joint name="MFJ1_y" type="revolute">
504
+ <parent link="mfmiddle"/>
505
+ <child link="link_mf_md_y"/>
506
+ <origin xyz="0.0 0.0 0.0"/>
507
+ <axis xyz="0 1 0"/>
508
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
509
+
510
+ <dynamics damping="1.0" friction="0.0001"/>
511
+ </joint>
512
+ <joint name="MFJ1_z" type="revolute">
513
+ <parent link="link_mf_md_y"/>
514
+ <child link="link_mf_md_z"/>
515
+ <origin xyz="0.0 0.0 0.0"/>
516
+ <axis xyz="0 0 1"/>
517
+ <limit effort="1000" lower="-0.000" upper="1.57" />
518
+
519
+ <dynamics damping="1.0" friction="0.0001"/>
520
+ </joint>
521
+
522
+ <link name="mfdistal">
523
+ <inertial>
524
+ <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
525
+ <mass value="0.00289"/>
526
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
527
+ </inertial>
528
+ </link>
529
+ <link name="link_mf_dd_y">
530
+ <inertial>
531
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
532
+ <mass value="0.00000"/>
533
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
534
+ </inertial>
535
+ </link>
536
+ <link name="link_mf_dd_z">
537
+ <inertial>
538
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
539
+ <mass value="0.00000"/>
540
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
541
+ </inertial>
542
+ <collision>
543
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
544
+ <geometry>
545
+ <mesh filename="meshes/mfdist_mean.obj" scale="1 1 1"/>
546
+ </geometry>
547
+ <material name="">
548
+ <contact name="finger"/>
549
+ </material>
550
+ </collision>
551
+ <visual>
552
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
553
+ <geometry>
554
+ <mesh filename="meshes/mfdist_mean.obj" scale="1 1 1"/>
555
+ </geometry>
556
+ </visual>
557
+ </link>
558
+ <!-- MF0 joint -->
559
+ <joint name="MFJ0" type="revolute">
560
+ <parent link="link_mf_md_z"/>
561
+ <child link="mfdistal"/>
562
+ <origin xyz="-0.0229046 -0.0012521 -0.00394452"/>
563
+ <axis xyz="1 0 0"/>
564
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
565
+
566
+ <dynamics damping="1.0" friction="0.0001"/>
567
+ </joint>
568
+ <joint name="MFJ0_y" type="revolute">
569
+ <parent link="mfdistal"/>
570
+ <child link="link_mf_dd_y"/>
571
+ <origin xyz="0.0 0.0 0.0"/>
572
+ <axis xyz="0 1 0"/>
573
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
574
+
575
+ <dynamics damping="1.0" friction="0.0001"/>
576
+ </joint>
577
+ <joint name="MFJ0_z" type="revolute">
578
+ <parent link="link_mf_dd_y"/>
579
+ <child link="link_mf_dd_z"/>
580
+ <origin xyz="0.0 0.0 0.0"/>
581
+ <axis xyz="0 0 1"/>
582
+ <limit effort="1000" lower="-0.000" upper="1.57" />
583
+
584
+ <dynamics damping="1.0" friction="0.0001"/>
585
+ </joint>
586
+
587
+ <link name="link_mftip">
588
+ <inertial>
589
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
590
+ <mass value="0.00000"/>
591
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
592
+ </inertial>
593
+ </link>
594
+ <!-- Fix Finger joint -->
595
+ <joint name="MFTip" type="fixed">
596
+ <parent link="link_mf_dd_z"/>
597
+ <child link="link_mftip"/>
598
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
599
+
600
+ </joint>
601
+
602
+ <!-- RF -->
603
+ <link name="rffixed">
604
+ <inertial>
605
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
606
+ <mass value="0.0"/>
607
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
608
+ </inertial>
609
+ </link>
610
+
611
+ <!-- Fix Finger joint -->
612
+ <joint name="Palm_RFJ2" type="fixed">
613
+ <parent link="link_palm_rz"/>
614
+ <child link="rffixed"/>
615
+ <origin xyz="0.0 0.0 0.0"/>
616
+ </joint>
617
+
618
+
619
+ <link name="rfproximal">
620
+ <inertial>
621
+ <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
622
+ <mass value="0.00725"/>
623
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
624
+ </inertial>
625
+ </link>
626
+ <link name="link_rf_pm_y">
627
+ <inertial>
628
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
629
+ <mass value="0.00000"/>
630
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
631
+ </inertial>
632
+ </link>
633
+ <link name="link_rf_pm_z">
634
+ <inertial>
635
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
636
+ <mass value="0.00000"/>
637
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
638
+ </inertial>
639
+ <collision>
640
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
641
+ <geometry>
642
+ <mesh filename="meshes/rfprox_mean.obj" scale="1 1 1"/>
643
+ </geometry>
644
+ <material name="">
645
+ <contact name="finger"/>
646
+ </material>
647
+ </collision>
648
+ <visual>
649
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
650
+ <geometry>
651
+ <mesh filename="meshes/rfprox_mean.obj" scale="1 1 1"/>
652
+ </geometry>
653
+ </visual>
654
+ </link>
655
+ <!-- RF2 proximal joint -->
656
+ <joint name="RFJ2" type="revolute">
657
+ <parent link="rffixed"/>
658
+ <child link="rfproximal"/>
659
+ <origin xyz="-0.0817355 -0.00395742 -0.0266732"/>
660
+ <axis xyz="1 0 0"/>
661
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
662
+
663
+ <dynamics damping="1.0" friction="0.0001"/>
664
+ </joint>
665
+ <joint name="RFJ2_y" type="revolute">
666
+ <parent link="rfproximal"/>
667
+ <child link="link_rf_pm_y"/>
668
+ <origin xyz="0.0 0.0 0.0"/>
669
+ <axis xyz="0 1 0"/>
670
+ <limit effort="1000" lower="-0.8" upper="0.8" />
671
+
672
+ <dynamics damping="1.0" friction="0.0001"/>
673
+ </joint>
674
+ <joint name="RFJ2_z" type="revolute">
675
+ <parent link="link_rf_pm_y"/>
676
+ <child link="link_rf_pm_z"/>
677
+ <origin xyz="0.0 0.0 0.0"/>
678
+ <axis xyz="0 0 1"/>
679
+ <limit effort="1000" lower="-0.0" upper="1.57" />
680
+
681
+ <dynamics damping="1.0" friction="0.0001"/>
682
+ </joint>
683
+
684
+ <link name="rfmiddle">
685
+ <inertial>
686
+ <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
687
+ <mass value="0.00487"/>
688
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
689
+ </inertial>
690
+ </link>
691
+ <link name="link_rf_md_y">
692
+ <inertial>
693
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
694
+ <mass value="0.00000"/>
695
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
696
+ </inertial>
697
+ </link>
698
+ <link name="link_rf_md_z">
699
+ <inertial>
700
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
701
+ <mass value="0.00000"/>
702
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
703
+ </inertial>
704
+ <collision>
705
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
706
+ <geometry>
707
+ <mesh filename="meshes/rfmiddle_mean.obj" scale="1 1 1"/>
708
+ </geometry>
709
+ <material name="">
710
+ <contact name="finger"/>
711
+ </material>
712
+ </collision>
713
+ <visual>
714
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
715
+ <geometry>
716
+ <mesh filename="meshes/rfmiddle_mean.obj" scale="1 1 1"/>
717
+ </geometry>
718
+ </visual>
719
+ </link>
720
+ <!-- RF1 joint -->
721
+ <joint name="RFJ1" type="revolute">
722
+ <parent link="link_rf_pm_z"/>
723
+ <child link="rfmiddle"/>
724
+ <origin xyz="-0.0283143 0.00206701 -0.00509854"/>
725
+ <axis xyz="1 0 0"/>
726
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
727
+
728
+ <dynamics damping="1.0" friction="0.0001"/>
729
+ </joint>
730
+ <joint name="RFJ1_y" type="revolute">
731
+ <parent link="rfmiddle"/>
732
+ <child link="link_rf_md_y"/>
733
+ <origin xyz="0.0 0.0 0.0"/>
734
+ <axis xyz="0 1 0"/>
735
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
736
+
737
+ <dynamics damping="1.0" friction="0.0001"/>
738
+ </joint>
739
+ <joint name="RFJ1_z" type="revolute">
740
+ <parent link="link_rf_md_y"/>
741
+ <child link="link_rf_md_z"/>
742
+ <origin xyz="0.0 0.0 0.0"/>
743
+ <axis xyz="0 0 1"/>
744
+ <limit effort="1000" lower="-0.000" upper="1.57" />
745
+
746
+ <dynamics damping="1.0" friction="0.0001"/>
747
+ </joint>
748
+
749
+ <link name="rfdistal">
750
+ <inertial>
751
+ <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
752
+ <mass value="0.00272"/>
753
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
754
+ </inertial>
755
+ </link>
756
+ <link name="link_rf_dd_y">
757
+ <inertial>
758
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
759
+ <mass value="0.00000"/>
760
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
761
+ </inertial>
762
+ </link>
763
+ <link name="link_rf_dd_z">
764
+ <inertial>
765
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
766
+ <mass value="0.00000"/>
767
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
768
+ </inertial>
769
+ <collision>
770
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
771
+ <geometry>
772
+ <mesh filename="meshes/rfdist_mean.obj" scale="1 1 1"/>
773
+ </geometry>
774
+ <material name="">
775
+ <contact name="finger"/>
776
+ </material>
777
+ </collision>
778
+ <visual>
779
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
780
+ <geometry>
781
+ <mesh filename="meshes/rfdist_mean.obj" scale="1 1 1"/>
782
+ </geometry>
783
+ </visual>
784
+ </link>
785
+ <!-- RF0 joint -->
786
+ <joint name="RFJ0" type="revolute">
787
+ <parent link="link_rf_md_z"/>
788
+ <child link="rfdistal"/>
789
+ <origin xyz="-0.0235205 -0.00168811 -0.00763382"/>
790
+ <axis xyz="1 0 0"/>
791
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
792
+
793
+ <dynamics damping="1.0" friction="0.0001"/>
794
+ </joint>
795
+ <joint name="RFJ0_y" type="revolute">
796
+ <parent link="rfdistal"/>
797
+ <child link="link_rf_dd_y"/>
798
+ <origin xyz="0.0 0.0 0.0"/>
799
+ <axis xyz="0 1 0"/>
800
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
801
+
802
+ <dynamics damping="1.0" friction="0.0001"/>
803
+ </joint>
804
+ <joint name="RFJ0_z" type="revolute">
805
+ <parent link="link_rf_dd_y"/>
806
+ <child link="link_rf_dd_z"/>
807
+ <origin xyz="0.0 0.0 0.0"/>
808
+ <axis xyz="0 0 1"/>
809
+ <limit effort="1000" lower="-0.000" upper="1.57" />
810
+
811
+ <dynamics damping="1.0" friction="0.0001"/>
812
+ </joint>
813
+
814
+ <link name="link_rftip">
815
+ <inertial>
816
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
817
+ <mass value="0.00000"/>
818
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
819
+ </inertial>
820
+ </link>
821
+ <!-- Fix Finger joint -->
822
+ <joint name="RFTip" type="fixed">
823
+ <parent link="link_rf_dd_z"/>
824
+ <child link="link_rftip"/>
825
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
826
+ </joint>
827
+
828
+ <!-- LF -->
829
+ <link name="lffixed">
830
+ <inertial>
831
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
832
+ <mass value="0.0"/>
833
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
834
+ </inertial>
835
+ </link>
836
+ <!-- Fix Finger joint -->
837
+ <joint name="Palm_LFJ2" type="fixed">
838
+ <parent link="link_palm_rz"/>
839
+ <child link="lffixed"/>
840
+ <origin xyz="0.0 0.0 0.0"/>
841
+ </joint>
842
+
843
+
844
+ <link name="lfproximal">
845
+ <inertial>
846
+ <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
847
+ <mass value="0.00416"/>
848
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
849
+ </inertial>
850
+ </link>
851
+ <link name="link_lf_pm_y">
852
+ <inertial>
853
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
854
+ <mass value="0.00000"/>
855
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
856
+ </inertial>
857
+ </link>
858
+ <link name="link_lf_pm_z">
859
+ <inertial>
860
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
861
+ <mass value="0.00000"/>
862
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
863
+ </inertial>
864
+ <collision>
865
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
866
+ <geometry>
867
+ <mesh filename="meshes/lfprox_mean.obj" scale="1 1 1"/>
868
+ </geometry>
869
+ <material name="">
870
+ <contact name="finger"/>
871
+ </material>
872
+ </collision>
873
+ <visual>
874
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
875
+ <geometry>
876
+ <mesh filename="meshes/lfprox_mean.obj" scale="1 1 1"/>
877
+ </geometry>
878
+ </visual>
879
+ </link>
880
+ <!-- LF2 proximal joint -->
881
+ <joint name="LFJ2" type="revolute">
882
+ <parent link="lffixed"/>
883
+ <child link="lfproximal"/>
884
+ <origin xyz="-0.0687869 -0.00994033 -0.0432093"/>
885
+ <axis xyz="1 0 0"/>
886
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
887
+
888
+ <dynamics damping="1.0" friction="0.0001"/>
889
+ </joint>
890
+ <joint name="LFJ2_y" type="revolute">
891
+ <parent link="lfproximal"/>
892
+ <child link="link_lf_pm_y"/>
893
+ <origin xyz="0.0 0.0 0.0"/>
894
+ <axis xyz="0 1 0"/>
895
+ <limit effort="1000" lower="-0.8" upper="0.8" />
896
+
897
+ <dynamics damping="1.0" friction="0.0001"/>
898
+ </joint>
899
+ <joint name="LFJ2_z" type="revolute">
900
+ <parent link="link_lf_pm_y"/>
901
+ <child link="link_lf_pm_z"/>
902
+ <origin xyz="0.0 0.0 0.0"/>
903
+ <axis xyz="0 0 1"/>
904
+ <limit effort="1000" lower="-0.0" upper="1.57" />
905
+
906
+ <dynamics damping="1.0" friction="0.0001"/>
907
+ </joint>
908
+
909
+ <link name="lfmiddle">
910
+ <inertial>
911
+ <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
912
+ <mass value="0.00269"/>
913
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
914
+ </inertial>
915
+ </link>
916
+ <link name="link_lf_md_y">
917
+ <inertial>
918
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
919
+ <mass value="0.00000"/>
920
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
921
+ </inertial>
922
+ </link>
923
+ <link name="link_lf_md_z">
924
+ <inertial>
925
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
926
+ <mass value="0.00000"/>
927
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
928
+ </inertial>
929
+ <collision>
930
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
931
+ <geometry>
932
+ <mesh filename="meshes/lfmiddle_mean.obj" scale="1 1 1"/>
933
+ </geometry>
934
+ <material name="">
935
+ <contact name="finger"/>
936
+ </material>
937
+ </collision>
938
+ <visual>
939
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
940
+ <geometry>
941
+ <mesh filename="meshes/lfmiddle_mean.obj" scale="1 1 1"/>
942
+ </geometry>
943
+ </visual>
944
+ </link>
945
+ <!-- LF1 joint -->
946
+ <joint name="LFJ1" type="revolute">
947
+ <parent link="link_lf_pm_z"/>
948
+ <child link="lfmiddle"/>
949
+ <origin xyz="-0.0170144 6.18249e-05 -0.0124988"/>
950
+ <axis xyz="1 0 0"/>
951
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
952
+
953
+ <dynamics damping="1.0" friction="0.0001"/>
954
+ </joint>
955
+ <joint name="LFJ1_y" type="revolute">
956
+ <parent link="lfmiddle"/>
957
+ <child link="link_lf_md_y"/>
958
+ <origin xyz="0.0 0.0 0.0"/>
959
+ <axis xyz="0 1 0"/>
960
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
961
+
962
+ <dynamics damping="1.0" friction="0.0001"/>
963
+ </joint>
964
+ <joint name="LFJ1_z" type="revolute">
965
+ <parent link="link_lf_md_y"/>
966
+ <child link="link_lf_md_z"/>
967
+ <origin xyz="0.0 0.0 0.0"/>
968
+ <axis xyz="0 0 1"/>
969
+ <limit effort="1000" lower="-0.000" upper="1.57" />
970
+
971
+ <dynamics damping="1.0" friction="0.0001"/>
972
+ </joint>
973
+
974
+ <link name="lfdistal">
975
+ <inertial>
976
+ <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
977
+ <mass value="0.00150"/>
978
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
979
+ </inertial>
980
+ </link>
981
+ <link name="link_lf_dd_y">
982
+ <inertial>
983
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
984
+ <mass value="0.00000"/>
985
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
986
+ </inertial>
987
+ </link>
988
+ <link name="link_lf_dd_z">
989
+ <inertial>
990
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
991
+ <mass value="0.00000"/>
992
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
993
+ </inertial>
994
+ <collision>
995
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
996
+ <geometry>
997
+ <mesh filename="meshes/lfdist_mean.obj" scale="1 1 1"/>
998
+ </geometry>
999
+ <material name="">
1000
+ <contact name="finger"/>
1001
+ </material>
1002
+ </collision>
1003
+ <visual>
1004
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1005
+ <geometry>
1006
+ <mesh filename="meshes/lfdist_mean.obj" scale="1 1 1"/>
1007
+ </geometry>
1008
+ </visual>
1009
+ </link>
1010
+ <!-- LF0 joint -->
1011
+ <joint name="LFJ0" type="revolute">
1012
+ <parent link="link_lf_md_z"/>
1013
+ <child link="lfdistal"/>
1014
+ <origin xyz="-0.0158669 -0.000691155 -0.0103319"/>
1015
+ <axis xyz="1 0 0"/>
1016
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1017
+
1018
+ <dynamics damping="1.0" friction="0.0001"/>
1019
+ </joint>
1020
+ <joint name="LFJ0_y" type="revolute">
1021
+ <parent link="lfdistal"/>
1022
+ <child link="link_lf_dd_y"/>
1023
+ <origin xyz="0.0 0.0 0.0"/>
1024
+ <axis xyz="0 1 0"/>
1025
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1026
+
1027
+ <dynamics damping="1.0" friction="0.0001"/>
1028
+ </joint>
1029
+ <joint name="LFJ0_z" type="revolute">
1030
+ <parent link="link_lf_dd_y"/>
1031
+ <child link="link_lf_dd_z"/>
1032
+ <origin xyz="0.0 0.0 0.0"/>
1033
+ <axis xyz="0 0 1"/>
1034
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1035
+
1036
+ <dynamics damping="1.0" friction="0.0001"/>
1037
+ </joint>
1038
+ <link name="link_lftip">
1039
+ <inertial>
1040
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1041
+ <mass value="0.00000"/>
1042
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1043
+ </inertial>
1044
+ </link>
1045
+ <!-- Fix Finger joint -->
1046
+ <joint name="LFTip" type="fixed">
1047
+ <parent link="link_lf_dd_z"/>
1048
+ <child link="link_lftip"/>
1049
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
1050
+ </joint>
1051
+
1052
+
1053
+ <!-- TH -->
1054
+ <link name="thfixed">
1055
+ <inertial>
1056
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1057
+ <mass value="0.0"/>
1058
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1059
+ </inertial>
1060
+ </link>
1061
+ <!-- Fix Finger joint -->
1062
+ <joint name="Palm_THJ2" type="fixed">
1063
+ <parent link="link_palm_rz"/>
1064
+ <child link="thfixed"/>
1065
+ <origin xyz="0.0 0.0 0.0"/>
1066
+ </joint>
1067
+
1068
+
1069
+ <link name="thproximal">
1070
+ <inertial>
1071
+ <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
1072
+ <mass value="0.01392"/>
1073
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1074
+ </inertial>
1075
+ </link>
1076
+ <link name="link_th_pm_y">
1077
+ <inertial>
1078
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1079
+ <mass value="0.00000"/>
1080
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1081
+ </inertial>
1082
+ </link>
1083
+ <link name="link_th_pm_z">
1084
+ <inertial>
1085
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1086
+ <mass value="0.00000"/>
1087
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1088
+ </inertial>
1089
+ <collision>
1090
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1091
+ <geometry>
1092
+ <mesh filename="meshes/thprox_mean.obj" scale="1 1 1"/>
1093
+ </geometry>
1094
+ <material name="">
1095
+ <contact name="finger"/>
1096
+ </material>
1097
+ </collision>
1098
+
1099
+ <visual>
1100
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1101
+ <geometry>
1102
+ <mesh filename="meshes/thprox_mean.obj" scale="1 1 1"/>
1103
+ </geometry>
1104
+ </visual>
1105
+ </link>
1106
+ <!-- TH2 proximal joint -->
1107
+ <joint name="THJ2" type="revolute">
1108
+ <parent link="thfixed"/>
1109
+ <child link="thproximal"/>
1110
+ <origin xyz="-0.0240897 -0.0155223 0.0258128"/>
1111
+ <axis xyz="1 0 0"/>
1112
+ <limit effort="1000" lower="0" upper="1.57" />
1113
+ <dynamics damping="1.0" friction="0.0001"/>
1114
+ </joint>
1115
+ <joint name="THJ2_y" type="revolute">
1116
+ <parent link="thproximal"/>
1117
+ <child link="link_th_pm_y"/>
1118
+ <origin xyz="0.0 0.0 0.0"/>
1119
+ <axis xyz="0 1 0"/>
1120
+ <limit effort="1000" lower="-0.8" upper="0.8" />
1121
+ <dynamics damping="1.0" friction="0.0001"/>
1122
+ </joint>
1123
+ <joint name="THJ2_z" type="revolute">
1124
+ <parent link="link_th_pm_y"/>
1125
+ <child link="link_th_pm_z"/>
1126
+ <origin xyz="0.0 0.0 0.0"/>
1127
+ <axis xyz="0 0 1"/>
1128
+ <limit effort="1000" lower="-0.25" upper="0.25" />
1129
+ <dynamics damping="1.0" friction="0.0001"/>
1130
+ </joint>
1131
+
1132
+ <link name="thmiddle">
1133
+ <inertial>
1134
+ <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
1135
+ <mass value="0.00802"/>
1136
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1137
+ </inertial>
1138
+ </link>
1139
+ <link name="link_th_md_y">
1140
+ <inertial>
1141
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1142
+ <mass value="0.00000"/>
1143
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1144
+ </inertial>
1145
+ </link>
1146
+ <link name="link_th_md_z">
1147
+ <inertial>
1148
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1149
+ <mass value="0.00000"/>
1150
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1151
+ </inertial>
1152
+ <collision>
1153
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1154
+ <geometry>
1155
+ <mesh filename="meshes/thmiddle_mean.obj" scale="1 1 1"/>
1156
+ </geometry>
1157
+ <material name="">
1158
+ <contact name="finger"/>
1159
+ </material>
1160
+ </collision>
1161
+ <visual>
1162
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1163
+ <geometry>
1164
+ <mesh filename="meshes/thmiddle_mean.obj" scale="1 1 1"/>
1165
+ </geometry>
1166
+ </visual>
1167
+ </link>
1168
+ <!-- TH1 joint -->
1169
+ <joint name="THJ1" type="revolute">
1170
+ <parent link="link_th_pm_z"/>
1171
+ <child link="thmiddle"/>
1172
+ <origin xyz="-0.0196332 0.000891286 0.0236995"/>
1173
+ <axis xyz="1 0 0"/>
1174
+ <limit effort="1000" lower="-1" upper="1" />
1175
+ <dynamics damping="1.0" friction="0.0001"/>
1176
+ </joint>
1177
+ <joint name="THJ1_y" type="revolute">
1178
+ <parent link="thmiddle"/>
1179
+ <child link="link_th_md_y"/>
1180
+ <origin xyz="0.0 0.0 0.0"/>
1181
+ <axis xyz="0 1 0"/>
1182
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1183
+ <dynamics damping="1.0" friction="0.0001"/>
1184
+ </joint>
1185
+ <joint name="THJ1_z" type="revolute">
1186
+ <parent link="link_th_md_y"/>
1187
+ <child link="link_th_md_z"/>
1188
+ <origin xyz="0.0 0.0 0.0"/>
1189
+ <axis xyz="0 0 1"/>
1190
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1191
+ <dynamics damping="1.0" friction="0.0001"/>
1192
+ </joint>
1193
+
1194
+ <link name="thdistal">
1195
+ <inertial>
1196
+ <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
1197
+ <mass value="0.00726"/>
1198
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1199
+ </inertial>
1200
+ </link>
1201
+ <link name="link_th_dd_y">
1202
+ <inertial>
1203
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1204
+ <mass value="0.00000"/>
1205
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1206
+ </inertial>
1207
+ </link>
1208
+ <link name="link_th_dd_z">
1209
+ <inertial>
1210
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1211
+ <mass value="0.00000"/>
1212
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1213
+ </inertial>
1214
+ <collision>
1215
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1216
+ <geometry>
1217
+ <mesh filename="meshes/thdist_mean.obj" scale="1 1 1"/>
1218
+ </geometry>
1219
+ <material name="">
1220
+ <contact name="finger"/>
1221
+ </material>
1222
+ </collision>
1223
+ <visual>
1224
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1225
+ <geometry>
1226
+ <mesh filename="meshes/thdist_mean.obj" scale="1 1 1"/>
1227
+ </geometry>
1228
+ </visual>
1229
+ </link>
1230
+ <!-- TH0 joint -->
1231
+ <joint name="THJ0" type="revolute">
1232
+ <parent link="link_th_md_z"/>
1233
+ <child link="thdistal"/>
1234
+ <origin xyz="-0.0222177 -0.00543297 0.0145241"/>
1235
+ <axis xyz="1 0 0"/>
1236
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1237
+ <dynamics damping="1.0" friction="0.0001"/>
1238
+ </joint>
1239
+ <joint name="THJ0_y" type="revolute">
1240
+ <parent link="thdistal"/>
1241
+ <child link="link_th_dd_y"/>
1242
+ <origin xyz="0.0 0.0 0.0"/>
1243
+ <axis xyz="0 1 0"/>
1244
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1245
+
1246
+ <dynamics damping="1.0" friction="0.0001"/>
1247
+ </joint>
1248
+ <joint name="THJ0_z" type="revolute">
1249
+ <parent link="link_th_dd_y"/>
1250
+ <child link="link_th_dd_z"/>
1251
+ <origin xyz="0.0 0.0 0.0"/>
1252
+ <axis xyz="0 0 1"/>
1253
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1254
+
1255
+ <dynamics damping="1.0" friction="0.0001"/>
1256
+ </joint>
1257
+ <link name="link_thtip">
1258
+ <inertial>
1259
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1260
+ <mass value="0.00000"/>
1261
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1262
+ </inertial>
1263
+ </link>
1264
+ <!-- Fix Finger joint -->
1265
+ <joint name="THTip" type="fixed">
1266
+ <parent link="link_th_dd_z"/>
1267
+ <child link="link_thtip"/>
1268
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1269
+ </joint>
1270
+
1271
+
1272
+ </robot>
rsc/mano/mano_mean_nocoll.urdf ADDED
@@ -0,0 +1,1095 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="mano">
3
+
4
+
5
+
6
+ <link name="world"> </link>
7
+
8
+ <joint name="world_to_base" type="fixed">
9
+ <axis xyz="0 0 0"/>
10
+ <origin xyz="0.0 0.0 0.0"/>
11
+ <parent link="world"/>
12
+ <child link="sliderBar"/>
13
+ </joint>
14
+
15
+ <link name="sliderBar">
16
+ <inertial>
17
+ <mass value="0"/>
18
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
19
+ </inertial>
20
+ </link>
21
+
22
+ <!-- /home/xueyi/diffsim/dgrasp/rsc/mano -->
23
+
24
+ <!--
25
+ Palm
26
+ -->
27
+ <!-- Palm -->
28
+ <link name="palm">
29
+ <inertial>
30
+ <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/>
31
+ <mass value="0.25042"/>
32
+ <inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/>
33
+ </inertial>
34
+ </link>
35
+
36
+ <link name="link_palm_y">
37
+ <inertial>
38
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
39
+ <mass value="0.00000"/>
40
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
41
+ </inertial>
42
+ </link>
43
+ <link name="link_palm_z">
44
+ <inertial>
45
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
46
+ <mass value="0.00000"/>
47
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
48
+ </inertial>
49
+ </link>
50
+ <link name="link_palm_rx">
51
+ <inertial>
52
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
53
+ <mass value="0.00000"/>
54
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
55
+ </inertial>
56
+ </link>
57
+ <link name="link_palm_ry">
58
+ <inertial>
59
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
60
+ <mass value="0.00000"/>
61
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
62
+ </inertial>
63
+ </link>
64
+ <link name="link_palm_rz">
65
+ <inertial>
66
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
67
+ <mass value="0.00000"/>
68
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
69
+ </inertial>
70
+ <visual>
71
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
72
+ <geometry>
73
+ <mesh filename="meshes/palm_mean.stl" scale="1 1 1"/>
74
+ </geometry>
75
+ </visual>
76
+ </link>
77
+
78
+ <!-- Hip joint -->
79
+ <joint name="WRJ0x" type="prismatic">
80
+ <parent link="sliderBar"/>
81
+ <child link="palm"/>
82
+ <origin xyz="0.0 0.0 0.0"/>
83
+ <axis xyz="1 0 0"/>
84
+ <limit effort="100.0" />
85
+ <dynamics damping="10.0" friction="0.0001"/>
86
+ </joint>
87
+ <joint name="WRJ0y" type="prismatic">
88
+ <parent link="palm"/>
89
+ <child link="link_palm_y"/>
90
+ <origin xyz="0.0 0.0 0.0"/>
91
+ <axis xyz="0 1 0"/>
92
+ <limit effort="100.0" />
93
+ <dynamics damping="10.0" friction="0.0001"/>
94
+ </joint>
95
+ <joint name="WRJ0z" type="prismatic">
96
+ <parent link="link_palm_y"/>
97
+ <child link="link_palm_z"/>
98
+ <origin xyz="0.0 0.0 0.0"/>
99
+ <axis xyz="0 0 1"/>
100
+ <limit effort="100.0" />
101
+ <dynamics damping="10.0" friction="0.0001"/>
102
+ </joint>
103
+ <joint name="WRJ0rx" type="revolute">
104
+ <parent link="link_palm_z"/>
105
+ <child link="link_palm_rx"/>
106
+ <origin xyz="0.0 0.0 0.0"/>
107
+ <axis xyz="1 0 0"/>
108
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
109
+ </joint>
110
+ <joint name="WRJ0ry" type="revolute">
111
+ <parent link="link_palm_rx"/>
112
+ <child link="link_palm_ry"/>
113
+ <origin xyz="0.0 0.0 0.0"/>
114
+ <axis xyz="0 1 0"/>
115
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
116
+ </joint>
117
+ <joint name="WRJ0rz" type="revolute">
118
+ <parent link="link_palm_ry"/>
119
+ <child link="link_palm_rz"/>
120
+ <origin xyz="0.0 0.0 0.0"/>
121
+ <axis xyz="0 0 1"/>
122
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
123
+ </joint>
124
+
125
+
126
+ <!-- FF -->
127
+ <link name="fffixed">
128
+ <inertial>
129
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
130
+ <mass value="0.0"/>
131
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
132
+ </inertial>
133
+ </link>
134
+ <!-- Fix Finger joint -->
135
+ <joint name="Palm_FFJ2" type="fixed">
136
+ <parent link="link_palm_rz"/>
137
+ <child link="fffixed"/>
138
+ <origin xyz="0.0 0.0 0.0"/>
139
+ </joint>
140
+
141
+
142
+ <link name="ffproximal">
143
+ <inertial>
144
+ <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
145
+ <mass value="0.00845"/>
146
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
147
+ </inertial>
148
+ </link>
149
+ <link name="link_ff_pm_y">
150
+ <inertial>
151
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
152
+ <mass value="0.00000"/>
153
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
154
+ </inertial>
155
+ </link>
156
+ <link name="link_ff_pm_z">
157
+ <inertial>
158
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
159
+ <mass value="0.00000"/>
160
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
161
+ </inertial>
162
+
163
+ <visual>
164
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
165
+ <geometry>
166
+ <mesh filename="meshes/ffprox_mean.stl" scale="1 1 1"/>
167
+ </geometry>
168
+ </visual>
169
+ </link>
170
+ <!-- FF2 proximal joint -->
171
+ <joint name="FFJ2" type="revolute">
172
+ <parent link="fffixed"/>
173
+ <child link="ffproximal"/>
174
+ <origin xyz="-0.0880972 -0.00520036 0.020686"/>
175
+ <axis xyz="1 0 0"/>
176
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
177
+
178
+ </joint>
179
+ <joint name="FFJ2_y" type="revolute">
180
+ <parent link="ffproximal"/>
181
+ <child link="link_ff_pm_y"/>
182
+ <origin xyz="0 0 0"/>
183
+ <axis xyz="0 1 0"/>
184
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
185
+
186
+ </joint>
187
+ <joint name="FFJ2_z" type="revolute">
188
+ <parent link="link_ff_pm_y"/>
189
+ <child link="link_ff_pm_z"/>
190
+ <origin xyz="0 0 0"/>
191
+ <axis xyz="0 0 1"/>
192
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
193
+
194
+ </joint>
195
+
196
+ <link name="ffmiddle_fixed">
197
+ <inertial>
198
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
199
+ <mass value="0.0"/>
200
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
201
+ </inertial>
202
+ </link>
203
+ <link name="ffmiddle">
204
+ <inertial>
205
+ <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
206
+ <mass value="0.00413"/>
207
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
208
+ </inertial>
209
+ </link>
210
+ <link name="link_ff_md_y">
211
+ <inertial>
212
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
213
+ <mass value="0.00000"/>
214
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
215
+ </inertial>
216
+ </link>
217
+ <link name="link_ff_md_z">
218
+ <inertial>
219
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
220
+ <mass value="0.00000"/>
221
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
222
+ </inertial>
223
+
224
+ <visual>
225
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
226
+ <geometry>
227
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="1 1 1"/>
228
+ </geometry>
229
+ </visual>
230
+ </link>
231
+ <!-- FF1 joint -->
232
+ <joint name="FFJ1_f" type="fixed">
233
+ <parent link="link_ff_pm_z"/>
234
+ <child link="ffmiddle_fixed"/>
235
+ <origin xyz="-0.0326789 0.00400935 0.00221706"/>
236
+ <axis xyz="1 0 0"/>
237
+ </joint>
238
+ <joint name="FFJ1" type="revolute">
239
+ <parent link="ffmiddle_fixed"/>
240
+ <child link="ffmiddle"/>
241
+ <origin xyz="0.0 0.0 0.0"/>
242
+ <axis xyz="1 0 0"/>
243
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
244
+
245
+ </joint>
246
+ <joint name="FFJ1_y" type="revolute">
247
+ <parent link="ffmiddle"/>
248
+ <child link="link_ff_md_y"/>
249
+ <origin xyz="0.0 0.0 0.0"/>
250
+ <axis xyz="0 1 0"/>
251
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
252
+
253
+ </joint>
254
+ <joint name="FFJ1_z" type="revolute">
255
+ <parent link="link_ff_md_y"/>
256
+ <child link="link_ff_md_z"/>
257
+ <origin xyz="0.0 0.0 0.0"/>
258
+ <axis xyz="0 0 1"/>
259
+ <limit effort="1000" lower="-0.5000" upper="1.57" velocity="0.5"/>
260
+
261
+ </joint>
262
+
263
+ <link name="ffdistal">
264
+ <inertial>
265
+ <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
266
+ <mass value="0.00293"/>
267
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
268
+ </inertial>
269
+ </link>
270
+ <link name="link_ff_dd_y">
271
+ <inertial>
272
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
273
+ <mass value="0.00000"/>
274
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
275
+ </inertial>
276
+ </link>
277
+ <link name="link_ff_dd_z">
278
+ <inertial>
279
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
280
+ <mass value="0.00000"/>
281
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
282
+ </inertial>
283
+
284
+ <visual>
285
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
286
+ <geometry>
287
+ <mesh filename="meshes/ffdist_mean.stl" scale="1 1 1"/>
288
+ </geometry>
289
+ </visual>
290
+ </link>
291
+ <!-- FF1 joint -->
292
+ <joint name="FFJ0" type="revolute">
293
+ <parent link="link_ff_md_z"/>
294
+ <child link="ffdistal"/>
295
+ <origin xyz="-0.0221559 -0.00129842 -0.000114109"/>
296
+ <axis xyz="1 0 0"/>
297
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
298
+
299
+ </joint>
300
+ <joint name="FFJ0_y" type="revolute">
301
+ <parent link="ffdistal"/>
302
+ <child link="link_ff_dd_y"/>
303
+ <origin xyz="0.0 0.0 0.0"/>
304
+ <axis xyz="0 1 0"/>
305
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
306
+
307
+ </joint>
308
+ <joint name="FFJ0_z" type="revolute">
309
+ <parent link="link_ff_dd_y"/>
310
+ <child link="link_ff_dd_z"/>
311
+ <origin xyz="0.0 0.0 0.0"/>
312
+ <axis xyz="0 0 1"/>
313
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
314
+
315
+ </joint>
316
+
317
+ <link name="link_fftip">
318
+ <inertial>
319
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
320
+ <mass value="0.00000"/>
321
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
322
+ </inertial>
323
+ </link>
324
+ <!-- Fix Finger joint -->
325
+ <joint name="FFTip" type="fixed">
326
+ <parent link="link_ff_dd_z"/>
327
+ <child link="link_fftip"/>
328
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
329
+ </joint>
330
+
331
+ <!-- MF -->
332
+ <link name="mffixed">
333
+ <inertial>
334
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
335
+ <mass value="0.0"/>
336
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
337
+ </inertial>
338
+ </link>
339
+ <!-- Fix Finger joint -->
340
+ <joint name="Palm_MFJ2" type="fixed">
341
+ <parent link="link_palm_rz"/>
342
+ <child link="mffixed"/>
343
+ <origin xyz="0.0 0.0 0.0"/>
344
+ </joint>
345
+
346
+
347
+ <link name="mfproximal">
348
+ <inertial>
349
+ <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
350
+ <mass value="0.00996"/>
351
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
352
+ </inertial>
353
+ </link>
354
+ <link name="link_mf_pm_y">
355
+ <inertial>
356
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
357
+ <mass value="0.00000"/>
358
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
359
+ </inertial>
360
+ </link>
361
+ <link name="link_mf_pm_z">
362
+ <inertial>
363
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
364
+ <mass value="0.00000"/>
365
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
366
+ </inertial>
367
+
368
+ <visual>
369
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
370
+ <geometry>
371
+ <mesh filename="meshes/mfprox_mean.stl" scale="1 1 1"/>
372
+ </geometry>
373
+ </visual>
374
+
375
+ </link>
376
+ <!-- MF2 proximal joint -->
377
+ <joint name="MFJ2" type="revolute">
378
+ <parent link="mffixed"/>
379
+ <child link="mfproximal"/>
380
+ <origin xyz="-0.0946604 -0.00147896 -0.00335754"/>
381
+ <axis xyz="1 0 0"/>
382
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
383
+
384
+ </joint>
385
+ <joint name="MFJ2_y" type="revolute">
386
+ <parent link="mfproximal"/>
387
+ <child link="link_mf_pm_y"/>
388
+ <origin xyz="0.0 0.0 0.0"/>
389
+ <axis xyz="0 1 0"/>
390
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
391
+
392
+ </joint>
393
+ <joint name="MFJ2_z" type="revolute">
394
+ <parent link="link_mf_pm_y"/>
395
+ <child link="link_mf_pm_z"/>
396
+ <origin xyz="0.0 0.0 0.0"/>
397
+ <axis xyz="0 0 1"/>
398
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
399
+
400
+ </joint>
401
+
402
+ <link name="mfmiddle">
403
+ <inertial>
404
+ <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
405
+ <mass value="0.00400"/>
406
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
407
+ </inertial>
408
+ </link>
409
+ <link name="link_mf_md_y">
410
+ <inertial>
411
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
412
+ <mass value="0.00000"/>
413
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
414
+ </inertial>
415
+ </link>
416
+ <link name="link_mf_md_z">
417
+ <inertial>
418
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
419
+ <mass value="0.00000"/>
420
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
421
+ </inertial>
422
+
423
+ <visual>
424
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
425
+ <geometry>
426
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="1 1 1"/>
427
+ </geometry>
428
+ </visual>
429
+ </link>
430
+ <!-- MF1 joint -->
431
+ <joint name="MFJ1" type="revolute">
432
+ <parent link="link_mf_pm_z"/>
433
+ <child link="mfmiddle"/>
434
+ <origin xyz="-0.0311827 0.00186133 -0.00559451"/>
435
+ <axis xyz="1 0 0"/>
436
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
437
+
438
+ </joint>
439
+ <joint name="MFJ1_y" type="revolute">
440
+ <parent link="mfmiddle"/>
441
+ <child link="link_mf_md_y"/>
442
+ <origin xyz="0.0 0.0 0.0"/>
443
+ <axis xyz="0 1 0"/>
444
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
445
+
446
+ </joint>
447
+ <joint name="MFJ1_z" type="revolute">
448
+ <parent link="link_mf_md_y"/>
449
+ <child link="link_mf_md_z"/>
450
+ <origin xyz="0.0 0.0 0.0"/>
451
+ <axis xyz="0 0 1"/>
452
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
453
+
454
+ </joint>
455
+
456
+ <link name="mfdistal">
457
+ <inertial>
458
+ <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
459
+ <mass value="0.00289"/>
460
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
461
+ </inertial>
462
+ </link>
463
+ <link name="link_mf_dd_y">
464
+ <inertial>
465
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
466
+ <mass value="0.00000"/>
467
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
468
+ </inertial>
469
+ </link>
470
+ <link name="link_mf_dd_z">
471
+ <inertial>
472
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
473
+ <mass value="0.00000"/>
474
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
475
+ </inertial>
476
+
477
+ <visual>
478
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
479
+ <geometry>
480
+ <mesh filename="meshes/mfdist_mean.stl" scale="1 1 1"/>
481
+ </geometry>
482
+ </visual>
483
+ </link>
484
+ <!-- MF0 joint -->
485
+ <joint name="MFJ0" type="revolute">
486
+ <parent link="link_mf_md_z"/>
487
+ <child link="mfdistal"/>
488
+ <origin xyz="-0.0229046 -0.0012521 -0.00394452"/>
489
+ <axis xyz="1 0 0"/>
490
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
491
+
492
+ </joint>
493
+ <joint name="MFJ0_y" type="revolute">
494
+ <parent link="mfdistal"/>
495
+ <child link="link_mf_dd_y"/>
496
+ <origin xyz="0.0 0.0 0.0"/>
497
+ <axis xyz="0 1 0"/>
498
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
499
+
500
+ </joint>
501
+ <joint name="MFJ0_z" type="revolute">
502
+ <parent link="link_mf_dd_y"/>
503
+ <child link="link_mf_dd_z"/>
504
+ <origin xyz="0.0 0.0 0.0"/>
505
+ <axis xyz="0 0 1"/>
506
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
507
+
508
+ </joint>
509
+
510
+ <link name="link_mftip">
511
+ <inertial>
512
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
513
+ <mass value="0.00000"/>
514
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
515
+ </inertial>
516
+ </link>
517
+ <!-- Fix Finger joint -->
518
+ <joint name="MFTip" type="fixed">
519
+ <parent link="link_mf_dd_z"/>
520
+ <child link="link_mftip"/>
521
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
522
+ </joint>
523
+
524
+ <!-- RF -->
525
+ <link name="rffixed">
526
+ <inertial>
527
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
528
+ <mass value="0.0"/>
529
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
530
+ </inertial>
531
+ </link>
532
+
533
+ <!-- Fix Finger joint -->
534
+ <joint name="Palm_RFJ2" type="fixed">
535
+ <parent link="link_palm_rz"/>
536
+ <child link="rffixed"/>
537
+ <origin xyz="0.0 0.0 0.0"/>
538
+ </joint>
539
+
540
+
541
+ <link name="rfproximal">
542
+ <inertial>
543
+ <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
544
+ <mass value="0.00725"/>
545
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
546
+ </inertial>
547
+ </link>
548
+ <link name="link_rf_pm_y">
549
+ <inertial>
550
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
551
+ <mass value="0.00000"/>
552
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
553
+ </inertial>
554
+ </link>
555
+ <link name="link_rf_pm_z">
556
+ <inertial>
557
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
558
+ <mass value="0.00000"/>
559
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
560
+ </inertial>
561
+
562
+ <visual>
563
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
564
+ <geometry>
565
+ <mesh filename="meshes/rfprox_mean.stl" scale="1 1 1"/>
566
+ </geometry>
567
+ </visual>
568
+ </link>
569
+ <!-- RF2 proximal joint -->
570
+ <joint name="RFJ2" type="revolute">
571
+ <parent link="rffixed"/>
572
+ <child link="rfproximal"/>
573
+ <origin xyz="-0.0817355 -0.00395742 -0.0266732"/>
574
+ <axis xyz="1 0 0"/>
575
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
576
+
577
+ </joint>
578
+ <joint name="RFJ2_y" type="revolute">
579
+ <parent link="rfproximal"/>
580
+ <child link="link_rf_pm_y"/>
581
+ <origin xyz="0.0 0.0 0.0"/>
582
+ <axis xyz="0 1 0"/>
583
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
584
+
585
+ </joint>
586
+ <joint name="RFJ2_z" type="revolute">
587
+ <parent link="link_rf_pm_y"/>
588
+ <child link="link_rf_pm_z"/>
589
+ <origin xyz="0.0 0.0 0.0"/>
590
+ <axis xyz="0 0 1"/>
591
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
592
+
593
+ </joint>
594
+
595
+ <link name="rfmiddle">
596
+ <inertial>
597
+ <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
598
+ <mass value="0.00487"/>
599
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
600
+ </inertial>
601
+ </link>
602
+ <link name="link_rf_md_y">
603
+ <inertial>
604
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
605
+ <mass value="0.00000"/>
606
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
607
+ </inertial>
608
+ </link>
609
+ <link name="link_rf_md_z">
610
+ <inertial>
611
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
612
+ <mass value="0.00000"/>
613
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
614
+ </inertial>
615
+
616
+ <visual>
617
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
618
+ <geometry>
619
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="1 1 1"/>
620
+ </geometry>
621
+ </visual>
622
+ </link>
623
+ <!-- RF1 joint -->
624
+ <joint name="RFJ1" type="revolute">
625
+ <parent link="link_rf_pm_z"/>
626
+ <child link="rfmiddle"/>
627
+ <origin xyz="-0.0283143 0.00206701 -0.00509854"/>
628
+ <axis xyz="1 0 0"/>
629
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
630
+
631
+ </joint>
632
+ <joint name="RFJ1_y" type="revolute">
633
+ <parent link="rfmiddle"/>
634
+ <child link="link_rf_md_y"/>
635
+ <origin xyz="0.0 0.0 0.0"/>
636
+ <axis xyz="0 1 0"/>
637
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
638
+
639
+ </joint>
640
+ <joint name="RFJ1_z" type="revolute">
641
+ <parent link="link_rf_md_y"/>
642
+ <child link="link_rf_md_z"/>
643
+ <origin xyz="0.0 0.0 0.0"/>
644
+ <axis xyz="0 0 1"/>
645
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
646
+
647
+ </joint>
648
+
649
+ <link name="rfdistal">
650
+ <inertial>
651
+ <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
652
+ <mass value="0.00272"/>
653
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
654
+ </inertial>
655
+ </link>
656
+ <link name="link_rf_dd_y">
657
+ <inertial>
658
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
659
+ <mass value="0.00000"/>
660
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
661
+ </inertial>
662
+ </link>
663
+ <link name="link_rf_dd_z">
664
+ <inertial>
665
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
666
+ <mass value="0.00000"/>
667
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
668
+ </inertial>
669
+
670
+ <visual>
671
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
672
+ <geometry>
673
+ <mesh filename="meshes/rfdist_mean.stl" scale="1 1 1"/>
674
+ </geometry>
675
+ </visual>
676
+ </link>
677
+ <!-- RF0 joint -->
678
+ <joint name="RFJ0" type="revolute">
679
+ <parent link="link_rf_md_z"/>
680
+ <child link="rfdistal"/>
681
+ <origin xyz="-0.0235205 -0.00168811 -0.00763382"/>
682
+ <axis xyz="1 0 0"/>
683
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
684
+
685
+ </joint>
686
+ <joint name="RFJ0_y" type="revolute">
687
+ <parent link="rfdistal"/>
688
+ <child link="link_rf_dd_y"/>
689
+ <origin xyz="0.0 0.0 0.0"/>
690
+ <axis xyz="0 1 0"/>
691
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
692
+
693
+ </joint>
694
+ <joint name="RFJ0_z" type="revolute">
695
+ <parent link="link_rf_dd_y"/>
696
+ <child link="link_rf_dd_z"/>
697
+ <origin xyz="0.0 0.0 0.0"/>
698
+ <axis xyz="0 0 1"/>
699
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
700
+
701
+ </joint>
702
+
703
+ <link name="link_rftip">
704
+ <inertial>
705
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
706
+ <mass value="0.00000"/>
707
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
708
+ </inertial>
709
+ </link>
710
+ <!-- Fix Finger joint -->
711
+ <joint name="RFTip" type="fixed">
712
+ <parent link="link_rf_dd_z"/>
713
+ <child link="link_rftip"/>
714
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
715
+ </joint>
716
+
717
+ <!-- LF -->
718
+ <link name="lffixed">
719
+ <inertial>
720
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
721
+ <mass value="0.0"/>
722
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
723
+ </inertial>
724
+ </link>
725
+ <!-- Fix Finger joint -->
726
+ <joint name="Palm_LFJ2" type="fixed">
727
+ <parent link="link_palm_rz"/>
728
+ <child link="lffixed"/>
729
+ <origin xyz="0.0 0.0 0.0"/>
730
+ </joint>
731
+
732
+
733
+ <link name="lfproximal">
734
+ <inertial>
735
+ <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
736
+ <mass value="0.00416"/>
737
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
738
+ </inertial>
739
+ </link>
740
+ <link name="link_lf_pm_y">
741
+ <inertial>
742
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
743
+ <mass value="0.00000"/>
744
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
745
+ </inertial>
746
+ </link>
747
+ <link name="link_lf_pm_z">
748
+ <inertial>
749
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
750
+ <mass value="0.00000"/>
751
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
752
+ </inertial>
753
+
754
+ <visual>
755
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
756
+ <geometry>
757
+ <mesh filename="meshes/lfprox_mean.stl" scale="1 1 1"/>
758
+ </geometry>
759
+ </visual>
760
+ </link>
761
+ <!-- LF2 proximal joint -->
762
+ <joint name="LFJ2" type="revolute">
763
+ <parent link="lffixed"/>
764
+ <child link="lfproximal"/>
765
+ <origin xyz="-0.0687869 -0.00994033 -0.0432093"/>
766
+ <axis xyz="1 0 0"/>
767
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
768
+
769
+ </joint>
770
+ <joint name="LFJ2_y" type="revolute">
771
+ <parent link="lfproximal"/>
772
+ <child link="link_lf_pm_y"/>
773
+ <origin xyz="0.0 0.0 0.0"/>
774
+ <axis xyz="0 1 0"/>
775
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
776
+
777
+ </joint>
778
+ <joint name="LFJ2_z" type="revolute">
779
+ <parent link="link_lf_pm_y"/>
780
+ <child link="link_lf_pm_z"/>
781
+ <origin xyz="0.0 0.0 0.0"/>
782
+ <axis xyz="0 0 1"/>
783
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
784
+
785
+ </joint>
786
+
787
+ <link name="lfmiddle">
788
+ <inertial>
789
+ <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
790
+ <mass value="0.00269"/>
791
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
792
+ </inertial>
793
+ </link>
794
+ <link name="link_lf_md_y">
795
+ <inertial>
796
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
797
+ <mass value="0.00000"/>
798
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
799
+ </inertial>
800
+ </link>
801
+ <link name="link_lf_md_z">
802
+ <inertial>
803
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
804
+ <mass value="0.00000"/>
805
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
806
+ </inertial>
807
+
808
+ <visual>
809
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
810
+ <geometry>
811
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="1 1 1"/>
812
+ </geometry>
813
+ </visual>
814
+ </link>
815
+ <!-- LF1 joint -->
816
+ <joint name="LFJ1" type="revolute">
817
+ <parent link="link_lf_pm_z"/>
818
+ <child link="lfmiddle"/>
819
+ <origin xyz="-0.0170144 6.18249e-05 -0.0124988"/>
820
+ <axis xyz="1 0 0"/>
821
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
822
+
823
+ </joint>
824
+ <joint name="LFJ1_y" type="revolute">
825
+ <parent link="lfmiddle"/>
826
+ <child link="link_lf_md_y"/>
827
+ <origin xyz="0.0 0.0 0.0"/>
828
+ <axis xyz="0 1 0"/>
829
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
830
+
831
+ </joint>
832
+ <joint name="LFJ1_z" type="revolute">
833
+ <parent link="link_lf_md_y"/>
834
+ <child link="link_lf_md_z"/>
835
+ <origin xyz="0.0 0.0 0.0"/>
836
+ <axis xyz="0 0 1"/>
837
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
838
+
839
+ </joint>
840
+
841
+ <link name="lfdistal">
842
+ <inertial>
843
+ <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
844
+ <mass value="0.00150"/>
845
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
846
+ </inertial>
847
+ </link>
848
+ <link name="link_lf_dd_y">
849
+ <inertial>
850
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
851
+ <mass value="0.00000"/>
852
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
853
+ </inertial>
854
+ </link>
855
+ <link name="link_lf_dd_z">
856
+ <inertial>
857
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
858
+ <mass value="0.00000"/>
859
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
860
+ </inertial>
861
+
862
+ <visual>
863
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
864
+ <geometry>
865
+ <mesh filename="meshes/lfdist_mean.stl" scale="1 1 1"/>
866
+ </geometry>
867
+ </visual>
868
+ </link>
869
+ <!-- LF0 joint -->
870
+ <joint name="LFJ0" type="revolute">
871
+ <parent link="link_lf_md_z"/>
872
+ <child link="lfdistal"/>
873
+ <origin xyz="-0.0158669 -0.000691155 -0.0103319"/>
874
+ <axis xyz="1 0 0"/>
875
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
876
+
877
+ </joint>
878
+ <joint name="LFJ0_y" type="revolute">
879
+ <parent link="lfdistal"/>
880
+ <child link="link_lf_dd_y"/>
881
+ <origin xyz="0.0 0.0 0.0"/>
882
+ <axis xyz="0 1 0"/>
883
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
884
+
885
+ </joint>
886
+ <joint name="LFJ0_z" type="revolute">
887
+ <parent link="link_lf_dd_y"/>
888
+ <child link="link_lf_dd_z"/>
889
+ <origin xyz="0.0 0.0 0.0"/>
890
+ <axis xyz="0 0 1"/>
891
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
892
+
893
+ </joint>
894
+ <link name="link_lftip">
895
+ <inertial>
896
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
897
+ <mass value="0.00000"/>
898
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
899
+ </inertial>
900
+ </link>
901
+ <!-- Fix Finger joint -->
902
+ <joint name="LFTip" type="fixed">
903
+ <parent link="link_lf_dd_z"/>
904
+ <child link="link_lftip"/>
905
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
906
+ </joint>
907
+
908
+
909
+ <!-- TH -->
910
+ <link name="thfixed">
911
+ <inertial>
912
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
913
+ <mass value="0.0"/>
914
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
915
+ </inertial>
916
+ </link>
917
+ <!-- Fix Finger joint -->
918
+ <joint name="Palm_THJ2" type="fixed">
919
+ <parent link="link_palm_rz"/>
920
+ <child link="thfixed"/>
921
+ <origin xyz="0.0 0.0 0.0"/>
922
+ </joint>
923
+
924
+
925
+ <link name="thproximal">
926
+ <inertial>
927
+ <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
928
+ <mass value="0.01392"/>
929
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
930
+ </inertial>
931
+ </link>
932
+ <link name="link_th_pm_y">
933
+ <inertial>
934
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
935
+ <mass value="0.00000"/>
936
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
937
+ </inertial>
938
+ </link>
939
+ <link name="link_th_pm_z">
940
+ <inertial>
941
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
942
+ <mass value="0.00000"/>
943
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
944
+ </inertial>
945
+
946
+ <visual>
947
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
948
+ <geometry>
949
+ <mesh filename="meshes/thprox_mean.stl" scale="1 1 1"/>
950
+ </geometry>
951
+ </visual>
952
+ </link>
953
+ <!-- TH2 proximal joint -->
954
+ <joint name="THJ2" type="revolute">
955
+ <parent link="thfixed"/>
956
+ <child link="thproximal"/>
957
+ <origin xyz="-0.0240897 -0.0155223 0.0258128"/>
958
+ <axis xyz="1 0 0"/>
959
+ <limit effort="1000" lower="0" upper="1.57" velocity="0.5"/>
960
+ </joint>
961
+ <joint name="THJ2_y" type="revolute">
962
+ <parent link="thproximal"/>
963
+ <child link="link_th_pm_y"/>
964
+ <origin xyz="0.0 0.0 0.0"/>
965
+ <axis xyz="0 1 0"/>
966
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
967
+ </joint>
968
+ <joint name="THJ2_z" type="revolute">
969
+ <parent link="link_th_pm_y"/>
970
+ <child link="link_th_pm_z"/>
971
+ <origin xyz="0.0 0.0 0.0"/>
972
+ <axis xyz="0 0 1"/>
973
+ <limit effort="1000" lower="-0.25" upper="0.25" velocity="0.5"/>
974
+ </joint>
975
+
976
+ <link name="thmiddle">
977
+ <inertial>
978
+ <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
979
+ <mass value="0.00802"/>
980
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
981
+ </inertial>
982
+ </link>
983
+ <link name="link_th_md_y">
984
+ <inertial>
985
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
986
+ <mass value="0.00000"/>
987
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
988
+ </inertial>
989
+ </link>
990
+ <link name="link_th_md_z">
991
+ <inertial>
992
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
993
+ <mass value="0.00000"/>
994
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
995
+ </inertial>
996
+
997
+ <visual>
998
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
999
+ <geometry>
1000
+ <mesh filename="meshes/thmiddle_mean.stl" scale="1 1 1"/>
1001
+ </geometry>
1002
+ </visual>
1003
+ </link>
1004
+ <!-- TH1 joint -->
1005
+ <joint name="THJ1" type="revolute">
1006
+ <parent link="link_th_pm_z"/>
1007
+ <child link="thmiddle"/>
1008
+ <origin xyz="-0.0196332 0.000891286 0.0236995"/>
1009
+ <axis xyz="1 0 0"/>
1010
+ <limit effort="1000" lower="-1" upper="1" velocity="0.5"/>
1011
+ </joint>
1012
+ <joint name="THJ1_y" type="revolute">
1013
+ <parent link="thmiddle"/>
1014
+ <child link="link_th_md_y"/>
1015
+ <origin xyz="0.0 0.0 0.0"/>
1016
+ <axis xyz="0 1 0"/>
1017
+ <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/>
1018
+ </joint>
1019
+ <joint name="THJ1_z" type="revolute">
1020
+ <parent link="link_th_md_y"/>
1021
+ <child link="link_th_md_z"/>
1022
+ <origin xyz="0.0 0.0 0.0"/>
1023
+ <axis xyz="0 0 1"/>
1024
+ <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/>
1025
+ </joint>
1026
+
1027
+ <link name="thdistal">
1028
+ <inertial>
1029
+ <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
1030
+ <mass value="0.00726"/>
1031
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1032
+ </inertial>
1033
+ </link>
1034
+ <link name="link_th_dd_y">
1035
+ <inertial>
1036
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1037
+ <mass value="0.00000"/>
1038
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1039
+ </inertial>
1040
+ </link>
1041
+ <link name="link_th_dd_z">
1042
+ <inertial>
1043
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1044
+ <mass value="0.00000"/>
1045
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1046
+ </inertial>
1047
+
1048
+ <visual>
1049
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1050
+ <geometry>
1051
+ <mesh filename="meshes/thdist_mean.stl" scale="1 1 1"/>
1052
+ </geometry>
1053
+ </visual>
1054
+ </link>
1055
+ <!-- TH0 joint -->
1056
+ <joint name="THJ0" type="revolute">
1057
+ <parent link="link_th_md_z"/>
1058
+ <child link="thdistal"/>
1059
+ <origin xyz="-0.0222177 -0.00543297 0.0145241"/>
1060
+ <axis xyz="1 0 0"/>
1061
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
1062
+
1063
+ </joint>
1064
+ <joint name="THJ0_y" type="revolute">
1065
+ <parent link="thdistal"/>
1066
+ <child link="link_th_dd_y"/>
1067
+ <origin xyz="0.0 0.0 0.0"/>
1068
+ <axis xyz="0 1 0"/>
1069
+ <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/>
1070
+
1071
+ </joint>
1072
+ <joint name="THJ0_z" type="revolute">
1073
+ <parent link="link_th_dd_y"/>
1074
+ <child link="link_th_dd_z"/>
1075
+ <origin xyz="0.0 0.0 0.0"/>
1076
+ <axis xyz="0 0 1"/>
1077
+ <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/>
1078
+
1079
+ </joint>
1080
+ <link name="link_thtip">
1081
+ <inertial>
1082
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1083
+ <mass value="0.00000"/>
1084
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1085
+ </inertial>
1086
+ </link>
1087
+ <!-- Fix Finger joint -->
1088
+ <joint name="THTip" type="fixed">
1089
+ <parent link="link_th_dd_z"/>
1090
+ <child link="link_thtip"/>
1091
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1092
+ </joint>
1093
+
1094
+
1095
+ </robot>
rsc/mano/mano_mean_nocoll_simplified.urdf ADDED
@@ -0,0 +1,1103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <robot name="mano">
2
+
3
+
4
+
5
+ <!-- <link name="world"> </link> -->
6
+
7
+ <!-- <joint name="world_to_base" type="fixed">
8
+ <axis xyz="0 0 0"/>
9
+ <origin xyz="0.0 0.0 0.0"/>
10
+ <parent link="world"/>
11
+ <child link="sliderBar"/>
12
+ </joint> -->
13
+
14
+ <!-- <link name="sliderBar">
15
+ <inertial>
16
+ <mass value="0"/>
17
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
18
+ </inertial>
19
+ </link> -->
20
+
21
+ <!-- /home/xueyi/diffsim/dgrasp/rsc/mano -->
22
+
23
+ <!--
24
+ Palm
25
+ -->
26
+ <!-- Palm -->
27
+ <link name="palm">
28
+ <inertial>
29
+ <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/>
30
+ <mass value="0.25042"/>
31
+ <inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/>
32
+ </inertial>
33
+ <visual>
34
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
35
+ <geometry>
36
+ <mesh filename="meshes/palm_mean.stl" scale="1 1 1"/>
37
+ </geometry>
38
+ </visual>
39
+ </link>
40
+
41
+ <!-- <link name="link_palm_y">
42
+ <inertial>
43
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
44
+ <mass value="0.00000"/>
45
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
46
+ </inertial>
47
+ </link>
48
+ <link name="link_palm_z">
49
+ <inertial>
50
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
51
+ <mass value="0.00000"/>
52
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
53
+ </inertial>
54
+ </link>
55
+ <link name="link_palm_rx">
56
+ <inertial>
57
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
58
+ <mass value="0.00000"/>
59
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
60
+ </inertial>
61
+ </link>
62
+ <link name="link_palm_ry">
63
+ <inertial>
64
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
65
+ <mass value="0.00000"/>
66
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
67
+ </inertial>
68
+ </link>
69
+ <link name="link_palm_rz">
70
+ <inertial>
71
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
72
+ <mass value="0.00000"/>
73
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
74
+ </inertial>
75
+ <visual>
76
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
77
+ <geometry>
78
+ <mesh filename="meshes/palm_mean.stl" scale="1 1 1"/>
79
+ </geometry>
80
+ </visual>
81
+ </link> -->
82
+
83
+ <!-- Hip joint -->
84
+ <!-- <joint name="WRJ0x" type="prismatic">
85
+ <parent link="sliderBar"/>
86
+ <child link="palm"/>
87
+ <origin xyz="0.0 0.0 0.0"/>
88
+ <axis xyz="1 0 0"/>
89
+ <limit effort="100.0" />
90
+ <dynamics damping="10.0" friction="0.0001"/>
91
+ </joint>
92
+ <joint name="WRJ0y" type="prismatic">
93
+ <parent link="palm"/>
94
+ <child link="link_palm_y"/>
95
+ <origin xyz="0.0 0.0 0.0"/>
96
+ <axis xyz="0 1 0"/>
97
+ <limit effort="100.0" />
98
+ <dynamics damping="10.0" friction="0.0001"/>
99
+ </joint>
100
+ <joint name="WRJ0z" type="prismatic">
101
+ <parent link="link_palm_y"/>
102
+ <child link="link_palm_z"/>
103
+ <origin xyz="0.0 0.0 0.0"/>
104
+ <axis xyz="0 0 1"/>
105
+ <limit effort="100.0" />
106
+ <dynamics damping="10.0" friction="0.0001"/>
107
+ </joint>
108
+ <joint name="WRJ0rx" type="revolute">
109
+ <parent link="link_palm_z"/>
110
+ <child link="link_palm_rx"/>
111
+ <origin xyz="0.0 0.0 0.0"/>
112
+ <axis xyz="1 0 0"/>
113
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
114
+ </joint>
115
+ <joint name="WRJ0ry" type="revolute">
116
+ <parent link="link_palm_rx"/>
117
+ <child link="link_palm_ry"/>
118
+ <origin xyz="0.0 0.0 0.0"/>
119
+ <axis xyz="0 1 0"/>
120
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
121
+ </joint>
122
+ <joint name="WRJ0rz" type="revolute">
123
+ <parent link="link_palm_ry"/>
124
+ <child link="link_palm_rz"/>
125
+ <origin xyz="0.0 0.0 0.0"/>
126
+ <axis xyz="0 0 1"/>
127
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
128
+ </joint> -->
129
+
130
+
131
+ <!-- FF -->
132
+ <link name="fffixed">
133
+ <inertial>
134
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
135
+ <mass value="0.0"/>
136
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
137
+ </inertial>
138
+ </link>
139
+ <!-- Fix Finger joint -->
140
+ <joint name="Palm_FFJ2" type="fixed">
141
+ <parent link="palm"/>
142
+ <child link="fffixed"/>
143
+ <origin xyz="0.0 0.0 0.0"/>
144
+ </joint>
145
+
146
+
147
+ <link name="ffproximal">
148
+ <inertial>
149
+ <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
150
+ <mass value="0.00845"/>
151
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
152
+ </inertial>
153
+ </link>
154
+ <link name="link_ff_pm_y">
155
+ <inertial>
156
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
157
+ <mass value="0.00000"/>
158
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
159
+ </inertial>
160
+ </link>
161
+ <link name="link_ff_pm_z">
162
+ <inertial>
163
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
164
+ <mass value="0.00000"/>
165
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
166
+ </inertial>
167
+
168
+ <visual>
169
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
170
+ <geometry>
171
+ <mesh filename="meshes/ffprox_mean.stl" scale="1 1 1"/>
172
+ </geometry>
173
+ </visual>
174
+ </link>
175
+ <!-- FF2 proximal joint -->
176
+ <joint name="FFJ2" type="revolute">
177
+ <parent link="fffixed"/>
178
+ <child link="ffproximal"/>
179
+ <origin xyz="-0.0880972 -0.00520036 0.020686"/>
180
+ <axis xyz="1 0 0"/>
181
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
182
+
183
+ </joint>
184
+ <joint name="FFJ2_y" type="revolute">
185
+ <parent link="ffproximal"/>
186
+ <child link="link_ff_pm_y"/>
187
+ <origin xyz="0 0 0"/>
188
+ <axis xyz="0 1 0"/>
189
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
190
+
191
+ </joint>
192
+ <joint name="FFJ2_z" type="revolute">
193
+ <parent link="link_ff_pm_y"/>
194
+ <child link="link_ff_pm_z"/>
195
+ <origin xyz="0 0 0"/>
196
+ <axis xyz="0 0 1"/>
197
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
198
+
199
+ </joint>
200
+
201
+ <link name="ffmiddle_fixed">
202
+ <inertial>
203
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
204
+ <mass value="0.0"/>
205
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
206
+ </inertial>
207
+ </link>
208
+ <link name="ffmiddle">
209
+ <inertial>
210
+ <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
211
+ <mass value="0.00413"/>
212
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
213
+ </inertial>
214
+ </link>
215
+ <link name="link_ff_md_y">
216
+ <inertial>
217
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
218
+ <mass value="0.00000"/>
219
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
220
+ </inertial>
221
+ </link>
222
+ <link name="link_ff_md_z">
223
+ <inertial>
224
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
225
+ <mass value="0.00000"/>
226
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
227
+ </inertial>
228
+
229
+ <visual>
230
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
231
+ <geometry>
232
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="1 1 1"/>
233
+ </geometry>
234
+ </visual>
235
+ </link>
236
+ <!-- FF1 joint -->
237
+ <joint name="FFJ1_f" type="fixed">
238
+ <parent link="link_ff_pm_z"/>
239
+ <child link="ffmiddle_fixed"/>
240
+ <origin xyz="-0.0326789 0.00400935 0.00221706"/>
241
+ <axis xyz="1 0 0"/>
242
+ </joint>
243
+ <joint name="FFJ1" type="revolute">
244
+ <parent link="ffmiddle_fixed"/>
245
+ <child link="ffmiddle"/>
246
+ <origin xyz="0.0 0.0 0.0"/>
247
+ <axis xyz="1 0 0"/>
248
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
249
+
250
+ </joint>
251
+ <joint name="FFJ1_y" type="revolute">
252
+ <parent link="ffmiddle"/>
253
+ <child link="link_ff_md_y"/>
254
+ <origin xyz="0.0 0.0 0.0"/>
255
+ <axis xyz="0 1 0"/>
256
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
257
+
258
+ </joint>
259
+ <joint name="FFJ1_z" type="revolute">
260
+ <parent link="link_ff_md_y"/>
261
+ <child link="link_ff_md_z"/>
262
+ <origin xyz="0.0 0.0 0.0"/>
263
+ <axis xyz="0 0 1"/>
264
+ <limit effort="1000" lower="-0.5000" upper="1.57" velocity="0.5"/>
265
+
266
+ </joint>
267
+
268
+ <link name="ffdistal">
269
+ <inertial>
270
+ <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
271
+ <mass value="0.00293"/>
272
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
273
+ </inertial>
274
+ </link>
275
+ <link name="link_ff_dd_y">
276
+ <inertial>
277
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
278
+ <mass value="0.00000"/>
279
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
280
+ </inertial>
281
+ </link>
282
+ <link name="link_ff_dd_z">
283
+ <inertial>
284
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
285
+ <mass value="0.00000"/>
286
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
287
+ </inertial>
288
+
289
+ <visual>
290
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
291
+ <geometry>
292
+ <mesh filename="meshes/ffdist_mean.stl" scale="1 1 1"/>
293
+ </geometry>
294
+ </visual>
295
+ </link>
296
+ <!-- FF1 joint -->
297
+ <joint name="FFJ0" type="revolute">
298
+ <parent link="link_ff_md_z"/>
299
+ <child link="ffdistal"/>
300
+ <origin xyz="-0.0221559 -0.00129842 -0.000114109"/>
301
+ <axis xyz="1 0 0"/>
302
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
303
+
304
+ </joint>
305
+ <joint name="FFJ0_y" type="revolute">
306
+ <parent link="ffdistal"/>
307
+ <child link="link_ff_dd_y"/>
308
+ <origin xyz="0.0 0.0 0.0"/>
309
+ <axis xyz="0 1 0"/>
310
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
311
+
312
+ </joint>
313
+ <joint name="FFJ0_z" type="revolute">
314
+ <parent link="link_ff_dd_y"/>
315
+ <child link="link_ff_dd_z"/>
316
+ <origin xyz="0.0 0.0 0.0"/>
317
+ <axis xyz="0 0 1"/>
318
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
319
+
320
+ </joint>
321
+
322
+ <link name="link_fftip">
323
+ <inertial>
324
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
325
+ <mass value="0.00000"/>
326
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
327
+ </inertial>
328
+ </link>
329
+ <!-- Fix Finger joint -->
330
+ <joint name="FFTip" type="fixed">
331
+ <parent link="link_ff_dd_z"/>
332
+ <child link="link_fftip"/>
333
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
334
+ </joint>
335
+
336
+ <!-- MF -->
337
+ <link name="mffixed">
338
+ <inertial>
339
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
340
+ <mass value="0.0"/>
341
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
342
+ </inertial>
343
+ </link>
344
+ <!-- Fix Finger joint -->
345
+ <joint name="Palm_MFJ2" type="fixed">
346
+ <!-- <parent link="link_palm_rz"/> -->
347
+ <parent link="palm"/>
348
+ <child link="mffixed"/>
349
+ <origin xyz="0.0 0.0 0.0"/>
350
+ </joint>
351
+
352
+
353
+ <link name="mfproximal">
354
+ <inertial>
355
+ <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
356
+ <mass value="0.00996"/>
357
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
358
+ </inertial>
359
+ </link>
360
+ <link name="link_mf_pm_y">
361
+ <inertial>
362
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
363
+ <mass value="0.00000"/>
364
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
365
+ </inertial>
366
+ </link>
367
+ <link name="link_mf_pm_z">
368
+ <inertial>
369
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
370
+ <mass value="0.00000"/>
371
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
372
+ </inertial>
373
+
374
+ <visual>
375
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
376
+ <geometry>
377
+ <mesh filename="meshes/mfprox_mean.stl" scale="1 1 1"/>
378
+ </geometry>
379
+ </visual>
380
+ </link>
381
+
382
+ <!-- MF2 proximal joint -->
383
+ <joint name="MFJ2" type="revolute">
384
+ <parent link="mffixed"/>
385
+ <child link="mfproximal"/>
386
+ <origin xyz="-0.0946604 -0.00147896 -0.00335754"/>
387
+ <axis xyz="1 0 0"/>
388
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
389
+
390
+ </joint>
391
+ <joint name="MFJ2_y" type="revolute">
392
+ <parent link="mfproximal"/>
393
+ <child link="link_mf_pm_y"/>
394
+ <origin xyz="0.0 0.0 0.0"/>
395
+ <axis xyz="0 1 0"/>
396
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
397
+
398
+ </joint>
399
+ <joint name="MFJ2_z" type="revolute">
400
+ <parent link="link_mf_pm_y"/>
401
+ <child link="link_mf_pm_z"/>
402
+ <origin xyz="0.0 0.0 0.0"/>
403
+ <axis xyz="0 0 1"/>
404
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
405
+
406
+ </joint>
407
+
408
+ <link name="mfmiddle">
409
+ <inertial>
410
+ <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
411
+ <mass value="0.00400"/>
412
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
413
+ </inertial>
414
+ </link>
415
+ <link name="link_mf_md_y">
416
+ <inertial>
417
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
418
+ <mass value="0.00000"/>
419
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
420
+ </inertial>
421
+ </link>
422
+ <link name="link_mf_md_z">
423
+ <inertial>
424
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
425
+ <mass value="0.00000"/>
426
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
427
+ </inertial>
428
+
429
+ <visual>
430
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
431
+ <geometry>
432
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="1 1 1"/>
433
+ </geometry>
434
+ </visual>
435
+ </link>
436
+ <!-- MF1 joint -->
437
+ <joint name="MFJ1" type="revolute">
438
+ <parent link="link_mf_pm_z"/>
439
+ <child link="mfmiddle"/>
440
+ <origin xyz="-0.0311827 0.00186133 -0.00559451"/>
441
+ <axis xyz="1 0 0"/>
442
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
443
+ </joint>
444
+
445
+ <joint name="MFJ1_y" type="revolute">
446
+ <parent link="mfmiddle"/>
447
+ <child link="link_mf_md_y"/>
448
+ <origin xyz="0.0 0.0 0.0"/>
449
+ <axis xyz="0 1 0"/>
450
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
451
+ </joint>
452
+
453
+ <joint name="MFJ1_z" type="revolute">
454
+ <parent link="link_mf_md_y"/>
455
+ <child link="link_mf_md_z"/>
456
+ <origin xyz="0.0 0.0 0.0"/>
457
+ <axis xyz="0 0 1"/>
458
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
459
+ </joint>
460
+
461
+ <link name="mfdistal">
462
+ <inertial>
463
+ <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
464
+ <mass value="0.00289"/>
465
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
466
+ </inertial>
467
+ </link>
468
+ <link name="link_mf_dd_y">
469
+ <inertial>
470
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
471
+ <mass value="0.00000"/>
472
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
473
+ </inertial>
474
+ </link>
475
+ <link name="link_mf_dd_z">
476
+ <inertial>
477
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
478
+ <mass value="0.00000"/>
479
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
480
+ </inertial>
481
+
482
+ <visual>
483
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
484
+ <geometry>
485
+ <mesh filename="meshes/mfdist_mean.stl" scale="1 1 1"/>
486
+ </geometry>
487
+ </visual>
488
+ </link>
489
+ <!-- MF0 joint -->
490
+ <joint name="MFJ0" type="revolute">
491
+ <parent link="link_mf_md_z"/>
492
+ <child link="mfdistal"/>
493
+ <origin xyz="-0.0229046 -0.0012521 -0.00394452"/>
494
+ <axis xyz="1 0 0"/>
495
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
496
+
497
+ </joint>
498
+ <joint name="MFJ0_y" type="revolute">
499
+ <parent link="mfdistal"/>
500
+ <child link="link_mf_dd_y"/>
501
+ <origin xyz="0.0 0.0 0.0"/>
502
+ <axis xyz="0 1 0"/>
503
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
504
+
505
+ </joint>
506
+ <joint name="MFJ0_z" type="revolute">
507
+ <parent link="link_mf_dd_y"/>
508
+ <child link="link_mf_dd_z"/>
509
+ <origin xyz="0.0 0.0 0.0"/>
510
+ <axis xyz="0 0 1"/>
511
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
512
+
513
+ </joint>
514
+
515
+ <link name="link_mftip">
516
+ <inertial>
517
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
518
+ <mass value="0.00000"/>
519
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
520
+ </inertial>
521
+ </link>
522
+ <!-- Fix Finger joint -->
523
+ <joint name="MFTip" type="fixed">
524
+ <parent link="link_mf_dd_z"/>
525
+ <child link="link_mftip"/>
526
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
527
+ </joint>
528
+
529
+ <!-- RF -->
530
+ <link name="rffixed">
531
+ <inertial>
532
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
533
+ <mass value="0.0"/>
534
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
535
+ </inertial>
536
+ </link>
537
+
538
+ <!-- Fix Finger joint -->
539
+ <joint name="Palm_RFJ2" type="fixed">
540
+ <!-- <parent link="link_palm_rz"/> -->
541
+ <parent link="palm"/>
542
+ <child link="rffixed"/>
543
+ <origin xyz="0.0 0.0 0.0"/>
544
+ </joint>
545
+
546
+
547
+ <link name="rfproximal">
548
+ <inertial>
549
+ <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
550
+ <mass value="0.00725"/>
551
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
552
+ </inertial>
553
+ </link>
554
+ <link name="link_rf_pm_y">
555
+ <inertial>
556
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
557
+ <mass value="0.00000"/>
558
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
559
+ </inertial>
560
+ </link>
561
+ <link name="link_rf_pm_z">
562
+ <inertial>
563
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
564
+ <mass value="0.00000"/>
565
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
566
+ </inertial>
567
+
568
+ <visual>
569
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
570
+ <geometry>
571
+ <mesh filename="meshes/rfprox_mean.stl" scale="1 1 1"/>
572
+ </geometry>
573
+ </visual>
574
+ </link>
575
+ <!-- RF2 proximal joint -->
576
+ <joint name="RFJ2" type="revolute">
577
+ <parent link="rffixed"/>
578
+ <child link="rfproximal"/>
579
+ <origin xyz="-0.0817355 -0.00395742 -0.0266732"/>
580
+ <axis xyz="1 0 0"/>
581
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
582
+
583
+ </joint>
584
+ <joint name="RFJ2_y" type="revolute">
585
+ <parent link="rfproximal"/>
586
+ <child link="link_rf_pm_y"/>
587
+ <origin xyz="0.0 0.0 0.0"/>
588
+ <axis xyz="0 1 0"/>
589
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
590
+
591
+ </joint>
592
+ <joint name="RFJ2_z" type="revolute">
593
+ <parent link="link_rf_pm_y"/>
594
+ <child link="link_rf_pm_z"/>
595
+ <origin xyz="0.0 0.0 0.0"/>
596
+ <axis xyz="0 0 1"/>
597
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
598
+
599
+ </joint>
600
+
601
+ <link name="rfmiddle">
602
+ <inertial>
603
+ <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
604
+ <mass value="0.00487"/>
605
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
606
+ </inertial>
607
+ </link>
608
+ <link name="link_rf_md_y">
609
+ <inertial>
610
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
611
+ <mass value="0.00000"/>
612
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
613
+ </inertial>
614
+ </link>
615
+ <link name="link_rf_md_z">
616
+ <inertial>
617
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
618
+ <mass value="0.00000"/>
619
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
620
+ </inertial>
621
+
622
+ <visual>
623
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
624
+ <geometry>
625
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="1 1 1"/>
626
+ </geometry>
627
+ </visual>
628
+ </link>
629
+ <!-- RF1 joint -->
630
+ <joint name="RFJ1" type="revolute">
631
+ <parent link="link_rf_pm_z"/>
632
+ <child link="rfmiddle"/>
633
+ <origin xyz="-0.0283143 0.00206701 -0.00509854"/>
634
+ <axis xyz="1 0 0"/>
635
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
636
+
637
+ </joint>
638
+ <joint name="RFJ1_y" type="revolute">
639
+ <parent link="rfmiddle"/>
640
+ <child link="link_rf_md_y"/>
641
+ <origin xyz="0.0 0.0 0.0"/>
642
+ <axis xyz="0 1 0"/>
643
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
644
+
645
+ </joint>
646
+ <joint name="RFJ1_z" type="revolute">
647
+ <parent link="link_rf_md_y"/>
648
+ <child link="link_rf_md_z"/>
649
+ <origin xyz="0.0 0.0 0.0"/>
650
+ <axis xyz="0 0 1"/>
651
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
652
+
653
+ </joint>
654
+
655
+ <link name="rfdistal">
656
+ <inertial>
657
+ <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
658
+ <mass value="0.00272"/>
659
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
660
+ </inertial>
661
+ </link>
662
+ <link name="link_rf_dd_y">
663
+ <inertial>
664
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
665
+ <mass value="0.00000"/>
666
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
667
+ </inertial>
668
+ </link>
669
+ <link name="link_rf_dd_z">
670
+ <inertial>
671
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
672
+ <mass value="0.00000"/>
673
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
674
+ </inertial>
675
+
676
+ <visual>
677
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
678
+ <geometry>
679
+ <mesh filename="meshes/rfdist_mean.stl" scale="1 1 1"/>
680
+ </geometry>
681
+ </visual>
682
+ </link>
683
+ <!-- RF0 joint -->
684
+ <joint name="RFJ0" type="revolute">
685
+ <parent link="link_rf_md_z"/>
686
+ <child link="rfdistal"/>
687
+ <origin xyz="-0.0235205 -0.00168811 -0.00763382"/>
688
+ <axis xyz="1 0 0"/>
689
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
690
+
691
+ </joint>
692
+ <joint name="RFJ0_y" type="revolute">
693
+ <parent link="rfdistal"/>
694
+ <child link="link_rf_dd_y"/>
695
+ <origin xyz="0.0 0.0 0.0"/>
696
+ <axis xyz="0 1 0"/>
697
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
698
+
699
+ </joint>
700
+ <joint name="RFJ0_z" type="revolute">
701
+ <parent link="link_rf_dd_y"/>
702
+ <child link="link_rf_dd_z"/>
703
+ <origin xyz="0.0 0.0 0.0"/>
704
+ <axis xyz="0 0 1"/>
705
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
706
+
707
+ </joint>
708
+
709
+ <link name="link_rftip">
710
+ <inertial>
711
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
712
+ <mass value="0.00000"/>
713
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
714
+ </inertial>
715
+ </link>
716
+ <!-- Fix Finger joint -->
717
+ <joint name="RFTip" type="fixed">
718
+ <parent link="link_rf_dd_z"/>
719
+ <child link="link_rftip"/>
720
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
721
+ </joint>
722
+
723
+ <!-- LF -->
724
+ <link name="lffixed">
725
+ <inertial>
726
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
727
+ <mass value="0.0"/>
728
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
729
+ </inertial>
730
+ </link>
731
+ <!-- Fix Finger joint -->
732
+ <joint name="Palm_LFJ2" type="fixed">
733
+ <!-- <parent link="link_palm_rz"/> -->
734
+ <parent link="palm"/>
735
+ <child link="lffixed"/>
736
+ <origin xyz="0.0 0.0 0.0"/>
737
+ </joint>
738
+
739
+
740
+ <link name="lfproximal">
741
+ <inertial>
742
+ <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
743
+ <mass value="0.00416"/>
744
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
745
+ </inertial>
746
+ </link>
747
+ <link name="link_lf_pm_y">
748
+ <inertial>
749
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
750
+ <mass value="0.00000"/>
751
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
752
+ </inertial>
753
+ </link>
754
+ <link name="link_lf_pm_z">
755
+ <inertial>
756
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
757
+ <mass value="0.00000"/>
758
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
759
+ </inertial>
760
+
761
+ <visual>
762
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
763
+ <geometry>
764
+ <mesh filename="meshes/lfprox_mean.stl" scale="1 1 1"/>
765
+ </geometry>
766
+ </visual>
767
+ </link>
768
+ <!-- LF2 proximal joint -->
769
+ <joint name="LFJ2" type="revolute">
770
+ <parent link="lffixed"/>
771
+ <child link="lfproximal"/>
772
+ <origin xyz="-0.0687869 -0.00994033 -0.0432093"/>
773
+ <axis xyz="1 0 0"/>
774
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
775
+
776
+ </joint>
777
+ <joint name="LFJ2_y" type="revolute">
778
+ <parent link="lfproximal"/>
779
+ <child link="link_lf_pm_y"/>
780
+ <origin xyz="0.0 0.0 0.0"/>
781
+ <axis xyz="0 1 0"/>
782
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
783
+
784
+ </joint>
785
+ <joint name="LFJ2_z" type="revolute">
786
+ <parent link="link_lf_pm_y"/>
787
+ <child link="link_lf_pm_z"/>
788
+ <origin xyz="0.0 0.0 0.0"/>
789
+ <axis xyz="0 0 1"/>
790
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
791
+
792
+ </joint>
793
+
794
+ <link name="lfmiddle">
795
+ <inertial>
796
+ <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
797
+ <mass value="0.00269"/>
798
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
799
+ </inertial>
800
+ </link>
801
+ <link name="link_lf_md_y">
802
+ <inertial>
803
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
804
+ <mass value="0.00000"/>
805
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
806
+ </inertial>
807
+ </link>
808
+ <link name="link_lf_md_z">
809
+ <inertial>
810
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
811
+ <mass value="0.00000"/>
812
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
813
+ </inertial>
814
+
815
+ <visual>
816
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
817
+ <geometry>
818
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="1 1 1"/>
819
+ </geometry>
820
+ </visual>
821
+ </link>
822
+ <!-- LF1 joint -->
823
+ <joint name="LFJ1" type="revolute">
824
+ <parent link="link_lf_pm_z"/>
825
+ <child link="lfmiddle"/>
826
+ <origin xyz="-0.0170144 6.18249e-05 -0.0124988"/>
827
+ <axis xyz="1 0 0"/>
828
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
829
+
830
+ </joint>
831
+ <joint name="LFJ1_y" type="revolute">
832
+ <parent link="lfmiddle"/>
833
+ <child link="link_lf_md_y"/>
834
+ <origin xyz="0.0 0.0 0.0"/>
835
+ <axis xyz="0 1 0"/>
836
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
837
+
838
+ </joint>
839
+ <joint name="LFJ1_z" type="revolute">
840
+ <parent link="link_lf_md_y"/>
841
+ <child link="link_lf_md_z"/>
842
+ <origin xyz="0.0 0.0 0.0"/>
843
+ <axis xyz="0 0 1"/>
844
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
845
+
846
+ </joint>
847
+
848
+ <link name="lfdistal">
849
+ <inertial>
850
+ <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
851
+ <mass value="0.00150"/>
852
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
853
+ </inertial>
854
+ </link>
855
+ <link name="link_lf_dd_y">
856
+ <inertial>
857
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
858
+ <mass value="0.00000"/>
859
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
860
+ </inertial>
861
+ </link>
862
+ <link name="link_lf_dd_z">
863
+ <inertial>
864
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
865
+ <mass value="0.00000"/>
866
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
867
+ </inertial>
868
+
869
+ <visual>
870
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
871
+ <geometry>
872
+ <mesh filename="meshes/lfdist_mean.stl" scale="1 1 1"/>
873
+ </geometry>
874
+ </visual>
875
+ </link>
876
+ <!-- LF0 joint -->
877
+ <joint name="LFJ0" type="revolute">
878
+ <parent link="link_lf_md_z"/>
879
+ <child link="lfdistal"/>
880
+ <origin xyz="-0.0158669 -0.000691155 -0.0103319"/>
881
+ <axis xyz="1 0 0"/>
882
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
883
+
884
+ </joint>
885
+ <joint name="LFJ0_y" type="revolute">
886
+ <parent link="lfdistal"/>
887
+ <child link="link_lf_dd_y"/>
888
+ <origin xyz="0.0 0.0 0.0"/>
889
+ <axis xyz="0 1 0"/>
890
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
891
+
892
+ </joint>
893
+ <joint name="LFJ0_z" type="revolute">
894
+ <parent link="link_lf_dd_y"/>
895
+ <child link="link_lf_dd_z"/>
896
+ <origin xyz="0.0 0.0 0.0"/>
897
+ <axis xyz="0 0 1"/>
898
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
899
+
900
+ </joint>
901
+ <link name="link_lftip">
902
+ <inertial>
903
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
904
+ <mass value="0.00000"/>
905
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
906
+ </inertial>
907
+ </link>
908
+ <!-- Fix Finger joint -->
909
+ <joint name="LFTip" type="fixed">
910
+ <parent link="link_lf_dd_z"/>
911
+ <child link="link_lftip"/>
912
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
913
+ </joint>
914
+
915
+
916
+ <!-- TH -->
917
+ <link name="thfixed">
918
+ <inertial>
919
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
920
+ <mass value="0.0"/>
921
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
922
+ </inertial>
923
+ </link>
924
+ <!-- Fix Finger joint -->
925
+ <joint name="Palm_THJ2" type="fixed">
926
+ <!-- <parent link="link_palm_rz"/> -->
927
+ <parent link="palm"/>
928
+ <child link="thfixed"/>
929
+ <origin xyz="0.0 0.0 0.0"/>
930
+ </joint>
931
+
932
+
933
+ <link name="thproximal">
934
+ <inertial>
935
+ <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
936
+ <mass value="0.01392"/>
937
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
938
+ </inertial>
939
+ </link>
940
+ <link name="link_th_pm_y">
941
+ <inertial>
942
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
943
+ <mass value="0.00000"/>
944
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
945
+ </inertial>
946
+ </link>
947
+ <link name="link_th_pm_z">
948
+ <inertial>
949
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
950
+ <mass value="0.00000"/>
951
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
952
+ </inertial>
953
+
954
+ <visual>
955
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
956
+ <geometry>
957
+ <mesh filename="meshes/thprox_mean.stl" scale="1 1 1"/>
958
+ </geometry>
959
+ </visual>
960
+ </link>
961
+ <!-- TH2 proximal joint -->
962
+ <joint name="THJ2" type="revolute">
963
+ <parent link="thfixed"/>
964
+ <child link="thproximal"/>
965
+ <origin xyz="-0.0240897 -0.0155223 0.0258128"/>
966
+ <axis xyz="1 0 0"/>
967
+ <limit effort="1000" lower="0" upper="1.57" velocity="0.5"/>
968
+ </joint>
969
+ <joint name="THJ2_y" type="revolute">
970
+ <parent link="thproximal"/>
971
+ <child link="link_th_pm_y"/>
972
+ <origin xyz="0.0 0.0 0.0"/>
973
+ <axis xyz="0 1 0"/>
974
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
975
+ </joint>
976
+ <joint name="THJ2_z" type="revolute">
977
+ <parent link="link_th_pm_y"/>
978
+ <child link="link_th_pm_z"/>
979
+ <origin xyz="0.0 0.0 0.0"/>
980
+ <axis xyz="0 0 1"/>
981
+ <limit effort="1000" lower="-0.25" upper="0.25" velocity="0.5"/>
982
+ </joint>
983
+
984
+ <link name="thmiddle">
985
+ <inertial>
986
+ <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
987
+ <mass value="0.00802"/>
988
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
989
+ </inertial>
990
+ </link>
991
+ <link name="link_th_md_y">
992
+ <inertial>
993
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
994
+ <mass value="0.00000"/>
995
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
996
+ </inertial>
997
+ </link>
998
+ <link name="link_th_md_z">
999
+ <inertial>
1000
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1001
+ <mass value="0.00000"/>
1002
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1003
+ </inertial>
1004
+
1005
+ <visual>
1006
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1007
+ <geometry>
1008
+ <mesh filename="meshes/thmiddle_mean.stl" scale="1 1 1"/>
1009
+ </geometry>
1010
+ </visual>
1011
+ </link>
1012
+ <!-- TH1 joint -->
1013
+ <joint name="THJ1" type="revolute">
1014
+ <parent link="link_th_pm_z"/>
1015
+ <child link="thmiddle"/>
1016
+ <origin xyz="-0.0196332 0.000891286 0.0236995"/>
1017
+ <axis xyz="1 0 0"/>
1018
+ <limit effort="1000" lower="-1" upper="1" velocity="0.5"/>
1019
+ </joint>
1020
+ <joint name="THJ1_y" type="revolute">
1021
+ <parent link="thmiddle"/>
1022
+ <child link="link_th_md_y"/>
1023
+ <origin xyz="0.0 0.0 0.0"/>
1024
+ <axis xyz="0 1 0"/>
1025
+ <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/>
1026
+ </joint>
1027
+ <joint name="THJ1_z" type="revolute">
1028
+ <parent link="link_th_md_y"/>
1029
+ <child link="link_th_md_z"/>
1030
+ <origin xyz="0.0 0.0 0.0"/>
1031
+ <axis xyz="0 0 1"/>
1032
+ <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/>
1033
+ </joint>
1034
+
1035
+ <link name="thdistal">
1036
+ <inertial>
1037
+ <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
1038
+ <mass value="0.00726"/>
1039
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1040
+ </inertial>
1041
+ </link>
1042
+ <link name="link_th_dd_y">
1043
+ <inertial>
1044
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1045
+ <mass value="0.00000"/>
1046
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1047
+ </inertial>
1048
+ </link>
1049
+ <link name="link_th_dd_z">
1050
+ <inertial>
1051
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1052
+ <mass value="0.00000"/>
1053
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1054
+ </inertial>
1055
+
1056
+ <visual>
1057
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1058
+ <geometry>
1059
+ <mesh filename="meshes/thdist_mean.stl" scale="1 1 1"/>
1060
+ </geometry>
1061
+ </visual>
1062
+ </link>
1063
+ <!-- TH0 joint -->
1064
+ <joint name="THJ0" type="revolute">
1065
+ <parent link="link_th_md_z"/>
1066
+ <child link="thdistal"/>
1067
+ <origin xyz="-0.0222177 -0.00543297 0.0145241"/>
1068
+ <axis xyz="1 0 0"/>
1069
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
1070
+
1071
+ </joint>
1072
+ <joint name="THJ0_y" type="revolute">
1073
+ <parent link="thdistal"/>
1074
+ <child link="link_th_dd_y"/>
1075
+ <origin xyz="0.0 0.0 0.0"/>
1076
+ <axis xyz="0 1 0"/>
1077
+ <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/>
1078
+
1079
+ </joint>
1080
+ <joint name="THJ0_z" type="revolute">
1081
+ <parent link="link_th_dd_y"/>
1082
+ <child link="link_th_dd_z"/>
1083
+ <origin xyz="0.0 0.0 0.0"/>
1084
+ <axis xyz="0 0 1"/>
1085
+ <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/>
1086
+
1087
+ </joint>
1088
+ <link name="link_thtip">
1089
+ <inertial>
1090
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1091
+ <mass value="0.00000"/>
1092
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1093
+ </inertial>
1094
+ </link>
1095
+ <!-- Fix Finger joint -->
1096
+ <joint name="THTip" type="fixed">
1097
+ <parent link="link_th_dd_z"/>
1098
+ <child link="link_thtip"/>
1099
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1100
+ </joint>
1101
+
1102
+
1103
+ </robot>
rsc/mano/mano_mean_nocoll_simplified_scaled.urdf ADDED
@@ -0,0 +1,1103 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <robot name="mano">
2
+
3
+
4
+
5
+ <!-- <link name="world"> </link> -->
6
+
7
+ <!-- <joint name="world_to_base" type="fixed">
8
+ <axis xyz="0 0 0"/>
9
+ <origin xyz="0.0 0.0 0.0"/>
10
+ <parent link="world"/>
11
+ <child link="sliderBar"/>
12
+ </joint> -->
13
+
14
+ <!-- <link name="sliderBar">
15
+ <inertial>
16
+ <mass value="0"/>
17
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
18
+ </inertial>
19
+ </link> -->
20
+
21
+ <!-- /home/xueyi/diffsim/dgrasp/rsc/mano -->
22
+
23
+ <!--
24
+ Palm
25
+ -->
26
+ <!-- Palm -->
27
+ <link name="palm">
28
+ <inertial>
29
+ <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/>
30
+ <mass value="0.25042"/>
31
+ <inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/>
32
+ </inertial>
33
+ <visual>
34
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
35
+ <geometry>
36
+ <mesh filename="meshes/palm_mean.stl" scale="3 3 3"/>
37
+ </geometry>
38
+ </visual>
39
+ </link>
40
+
41
+ <!-- <link name="link_palm_y">
42
+ <inertial>
43
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
44
+ <mass value="0.00000"/>
45
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
46
+ </inertial>
47
+ </link>
48
+ <link name="link_palm_z">
49
+ <inertial>
50
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
51
+ <mass value="0.00000"/>
52
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
53
+ </inertial>
54
+ </link>
55
+ <link name="link_palm_rx">
56
+ <inertial>
57
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
58
+ <mass value="0.00000"/>
59
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
60
+ </inertial>
61
+ </link>
62
+ <link name="link_palm_ry">
63
+ <inertial>
64
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
65
+ <mass value="0.00000"/>
66
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
67
+ </inertial>
68
+ </link>
69
+ <link name="link_palm_rz">
70
+ <inertial>
71
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
72
+ <mass value="0.00000"/>
73
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
74
+ </inertial>
75
+ <visual>
76
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
77
+ <geometry>
78
+ <mesh filename="meshes/palm_mean.stl" scale="3 3 3"/>
79
+ </geometry>
80
+ </visual>
81
+ </link> -->
82
+
83
+ <!-- Hip joint -->
84
+ <!-- <joint name="WRJ0x" type="prismatic">
85
+ <parent link="sliderBar"/>
86
+ <child link="palm"/>
87
+ <origin xyz="0.0 0.0 0.0"/>
88
+ <axis xyz="1 0 0"/>
89
+ <limit effort="100.0" />
90
+ <dynamics damping="10.0" friction="0.0001"/>
91
+ </joint>
92
+ <joint name="WRJ0y" type="prismatic">
93
+ <parent link="palm"/>
94
+ <child link="link_palm_y"/>
95
+ <origin xyz="0.0 0.0 0.0"/>
96
+ <axis xyz="0 1 0"/>
97
+ <limit effort="100.0" />
98
+ <dynamics damping="10.0" friction="0.0001"/>
99
+ </joint>
100
+ <joint name="WRJ0z" type="prismatic">
101
+ <parent link="link_palm_y"/>
102
+ <child link="link_palm_z"/>
103
+ <origin xyz="0.0 0.0 0.0"/>
104
+ <axis xyz="0 0 1"/>
105
+ <limit effort="100.0" />
106
+ <dynamics damping="10.0" friction="0.0001"/>
107
+ </joint>
108
+ <joint name="WRJ0rx" type="revolute">
109
+ <parent link="link_palm_z"/>
110
+ <child link="link_palm_rx"/>
111
+ <origin xyz="0.0 0.0 0.0"/>
112
+ <axis xyz="1 0 0"/>
113
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
114
+ </joint>
115
+ <joint name="WRJ0ry" type="revolute">
116
+ <parent link="link_palm_rx"/>
117
+ <child link="link_palm_ry"/>
118
+ <origin xyz="0.0 0.0 0.0"/>
119
+ <axis xyz="0 1 0"/>
120
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
121
+ </joint>
122
+ <joint name="WRJ0rz" type="revolute">
123
+ <parent link="link_palm_ry"/>
124
+ <child link="link_palm_rz"/>
125
+ <origin xyz="0.0 0.0 0.0"/>
126
+ <axis xyz="0 0 1"/>
127
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
128
+ </joint> -->
129
+
130
+
131
+ <!-- FF -->
132
+ <link name="fffixed">
133
+ <inertial>
134
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
135
+ <mass value="0.0"/>
136
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
137
+ </inertial>
138
+ </link>
139
+ <!-- Fix Finger joint -->
140
+ <joint name="Palm_FFJ2" type="fixed">
141
+ <parent link="palm"/>
142
+ <child link="fffixed"/>
143
+ <origin xyz="0.0 0.0 0.0"/>
144
+ </joint>
145
+
146
+
147
+ <link name="ffproximal">
148
+ <inertial>
149
+ <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
150
+ <mass value="0.00845"/>
151
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
152
+ </inertial>
153
+ </link>
154
+ <link name="link_ff_pm_y">
155
+ <inertial>
156
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
157
+ <mass value="0.00000"/>
158
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
159
+ </inertial>
160
+ </link>
161
+ <link name="link_ff_pm_z">
162
+ <inertial>
163
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
164
+ <mass value="0.00000"/>
165
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
166
+ </inertial>
167
+
168
+ <visual>
169
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
170
+ <geometry>
171
+ <mesh filename="meshes/ffprox_mean.stl" scale="3 3 3"/>
172
+ </geometry>
173
+ </visual>
174
+ </link>
175
+ <!-- FF2 proximal joint -->
176
+ <joint name="FFJ2" type="revolute">
177
+ <parent link="fffixed"/>
178
+ <child link="ffproximal"/>
179
+ <origin xyz="-0.26429158449172974 -0.015601079910993576 0.06205800175666809"/>
180
+ <axis xyz="1 0 0"/>
181
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
182
+
183
+ </joint>
184
+ <joint name="FFJ2_y" type="revolute">
185
+ <parent link="ffproximal"/>
186
+ <child link="link_ff_pm_y"/>
187
+ <origin xyz="0 0 0"/>
188
+ <axis xyz="0 1 0"/>
189
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
190
+
191
+ </joint>
192
+ <joint name="FFJ2_z" type="revolute">
193
+ <parent link="link_ff_pm_y"/>
194
+ <child link="link_ff_pm_z"/>
195
+ <origin xyz="0 0 0"/>
196
+ <axis xyz="0 0 1"/>
197
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
198
+
199
+ </joint>
200
+
201
+ <link name="ffmiddle_fixed">
202
+ <inertial>
203
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
204
+ <mass value="0.0"/>
205
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
206
+ </inertial>
207
+ </link>
208
+ <link name="ffmiddle">
209
+ <inertial>
210
+ <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
211
+ <mass value="0.00413"/>
212
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
213
+ </inertial>
214
+ </link>
215
+ <link name="link_ff_md_y">
216
+ <inertial>
217
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
218
+ <mass value="0.00000"/>
219
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
220
+ </inertial>
221
+ </link>
222
+ <link name="link_ff_md_z">
223
+ <inertial>
224
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
225
+ <mass value="0.00000"/>
226
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
227
+ </inertial>
228
+
229
+ <visual>
230
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
231
+ <geometry>
232
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="3 3 3"/>
233
+ </geometry>
234
+ </visual>
235
+ </link>
236
+ <!-- FF1 joint -->
237
+ <joint name="FFJ1_f" type="fixed">
238
+ <parent link="link_ff_pm_z"/>
239
+ <child link="ffmiddle_fixed"/>
240
+ <origin xyz="-0.09803669154644012 0.012028050608932972 0.006651179865002632"/>
241
+ <axis xyz="1 0 0"/>
242
+ </joint>
243
+ <joint name="FFJ1" type="revolute">
244
+ <parent link="ffmiddle_fixed"/>
245
+ <child link="ffmiddle"/>
246
+ <origin xyz="0.0 0.0 0.0"/>
247
+ <axis xyz="1 0 0"/>
248
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
249
+
250
+ </joint>
251
+ <joint name="FFJ1_y" type="revolute">
252
+ <parent link="ffmiddle"/>
253
+ <child link="link_ff_md_y"/>
254
+ <origin xyz="0.0 0.0 0.0"/>
255
+ <axis xyz="0 1 0"/>
256
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
257
+
258
+ </joint>
259
+ <joint name="FFJ1_z" type="revolute">
260
+ <parent link="link_ff_md_y"/>
261
+ <child link="link_ff_md_z"/>
262
+ <origin xyz="0.0 0.0 0.0"/>
263
+ <axis xyz="0 0 1"/>
264
+ <limit effort="1000" lower="-0.5000" upper="1.57" velocity="0.5"/>
265
+
266
+ </joint>
267
+
268
+ <link name="ffdistal">
269
+ <inertial>
270
+ <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
271
+ <mass value="0.00293"/>
272
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
273
+ </inertial>
274
+ </link>
275
+ <link name="link_ff_dd_y">
276
+ <inertial>
277
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
278
+ <mass value="0.00000"/>
279
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
280
+ </inertial>
281
+ </link>
282
+ <link name="link_ff_dd_z">
283
+ <inertial>
284
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
285
+ <mass value="0.00000"/>
286
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
287
+ </inertial>
288
+
289
+ <visual>
290
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
291
+ <geometry>
292
+ <mesh filename="meshes/ffdist_mean.stl" scale="3 3 3"/>
293
+ </geometry>
294
+ </visual>
295
+ </link>
296
+ <!-- FF1 joint -->
297
+ <joint name="FFJ0" type="revolute">
298
+ <parent link="link_ff_md_z"/>
299
+ <child link="ffdistal"/>
300
+ <origin xyz="-0.06646770238876343 -0.00389525992795825 -0.0003423269954510033"/>
301
+ <axis xyz="1 0 0"/>
302
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
303
+
304
+ </joint>
305
+ <joint name="FFJ0_y" type="revolute">
306
+ <parent link="ffdistal"/>
307
+ <child link="link_ff_dd_y"/>
308
+ <origin xyz="0.0 0.0 0.0"/>
309
+ <axis xyz="0 1 0"/>
310
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
311
+
312
+ </joint>
313
+ <joint name="FFJ0_z" type="revolute">
314
+ <parent link="link_ff_dd_y"/>
315
+ <child link="link_ff_dd_z"/>
316
+ <origin xyz="0.0 0.0 0.0"/>
317
+ <axis xyz="0 0 1"/>
318
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
319
+
320
+ </joint>
321
+
322
+ <link name="link_fftip">
323
+ <inertial>
324
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
325
+ <mass value="0.00000"/>
326
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
327
+ </inertial>
328
+ </link>
329
+ <!-- Fix Finger joint -->
330
+ <joint name="FFTip" type="fixed">
331
+ <parent link="link_ff_dd_z"/>
332
+ <child link="link_fftip"/>
333
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
334
+ </joint>
335
+
336
+ <!-- MF -->
337
+ <link name="mffixed">
338
+ <inertial>
339
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
340
+ <mass value="0.0"/>
341
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
342
+ </inertial>
343
+ </link>
344
+ <!-- Fix Finger joint -->
345
+ <joint name="Palm_MFJ2" type="fixed">
346
+ <!-- <parent link="link_palm_rz"/> -->
347
+ <parent link="palm"/>
348
+ <child link="mffixed"/>
349
+ <origin xyz="0.0 0.0 0.0"/>
350
+ </joint>
351
+
352
+
353
+ <link name="mfproximal">
354
+ <inertial>
355
+ <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
356
+ <mass value="0.00996"/>
357
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
358
+ </inertial>
359
+ </link>
360
+ <link name="link_mf_pm_y">
361
+ <inertial>
362
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
363
+ <mass value="0.00000"/>
364
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
365
+ </inertial>
366
+ </link>
367
+ <link name="link_mf_pm_z">
368
+ <inertial>
369
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
370
+ <mass value="0.00000"/>
371
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
372
+ </inertial>
373
+
374
+ <visual>
375
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
376
+ <geometry>
377
+ <mesh filename="meshes/mfprox_mean.stl" scale="3 3 3"/>
378
+ </geometry>
379
+ </visual>
380
+ </link>
381
+
382
+ <!-- MF2 proximal joint -->
383
+ <joint name="MFJ2" type="revolute">
384
+ <parent link="mffixed"/>
385
+ <child link="mfproximal"/>
386
+ <origin xyz="-0.28398120403289795 -0.004436880350112915 -0.010072619654238224"/>
387
+ <axis xyz="1 0 0"/>
388
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
389
+
390
+ </joint>
391
+ <joint name="MFJ2_y" type="revolute">
392
+ <parent link="mfproximal"/>
393
+ <child link="link_mf_pm_y"/>
394
+ <origin xyz="0.0 0.0 0.0"/>
395
+ <axis xyz="0 1 0"/>
396
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
397
+
398
+ </joint>
399
+ <joint name="MFJ2_z" type="revolute">
400
+ <parent link="link_mf_pm_y"/>
401
+ <child link="link_mf_pm_z"/>
402
+ <origin xyz="0.0 0.0 0.0"/>
403
+ <axis xyz="0 0 1"/>
404
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
405
+
406
+ </joint>
407
+
408
+ <link name="mfmiddle">
409
+ <inertial>
410
+ <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
411
+ <mass value="0.00400"/>
412
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
413
+ </inertial>
414
+ </link>
415
+ <link name="link_mf_md_y">
416
+ <inertial>
417
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
418
+ <mass value="0.00000"/>
419
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
420
+ </inertial>
421
+ </link>
422
+ <link name="link_mf_md_z">
423
+ <inertial>
424
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
425
+ <mass value="0.00000"/>
426
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
427
+ </inertial>
428
+
429
+ <visual>
430
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
431
+ <geometry>
432
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="3 3 3"/>
433
+ </geometry>
434
+ </visual>
435
+ </link>
436
+ <!-- MF1 joint -->
437
+ <joint name="MFJ1" type="revolute">
438
+ <parent link="link_mf_pm_z"/>
439
+ <child link="mfmiddle"/>
440
+ <origin xyz="-0.09354810416698456 0.005583989899605513 -0.01678352989256382"/>
441
+ <axis xyz="1 0 0"/>
442
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
443
+ </joint>
444
+
445
+ <joint name="MFJ1_y" type="revolute">
446
+ <parent link="mfmiddle"/>
447
+ <child link="link_mf_md_y"/>
448
+ <origin xyz="0.0 0.0 0.0"/>
449
+ <axis xyz="0 1 0"/>
450
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
451
+ </joint>
452
+
453
+ <joint name="MFJ1_z" type="revolute">
454
+ <parent link="link_mf_md_y"/>
455
+ <child link="link_mf_md_z"/>
456
+ <origin xyz="0.0 0.0 0.0"/>
457
+ <axis xyz="0 0 1"/>
458
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
459
+ </joint>
460
+
461
+ <link name="mfdistal">
462
+ <inertial>
463
+ <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
464
+ <mass value="0.00289"/>
465
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
466
+ </inertial>
467
+ </link>
468
+ <link name="link_mf_dd_y">
469
+ <inertial>
470
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
471
+ <mass value="0.00000"/>
472
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
473
+ </inertial>
474
+ </link>
475
+ <link name="link_mf_dd_z">
476
+ <inertial>
477
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
478
+ <mass value="0.00000"/>
479
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
480
+ </inertial>
481
+
482
+ <visual>
483
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
484
+ <geometry>
485
+ <mesh filename="meshes/mfdist_mean.stl" scale="3 3 3"/>
486
+ </geometry>
487
+ </visual>
488
+ </link>
489
+ <!-- MF0 joint -->
490
+ <joint name="MFJ0" type="revolute">
491
+ <parent link="link_mf_md_z"/>
492
+ <child link="mfdistal"/>
493
+ <origin xyz="-0.06871379911899567 -0.0037563000805675983 -0.011833559721708298"/>
494
+ <axis xyz="1 0 0"/>
495
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
496
+
497
+ </joint>
498
+ <joint name="MFJ0_y" type="revolute">
499
+ <parent link="mfdistal"/>
500
+ <child link="link_mf_dd_y"/>
501
+ <origin xyz="0.0 0.0 0.0"/>
502
+ <axis xyz="0 1 0"/>
503
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
504
+
505
+ </joint>
506
+ <joint name="MFJ0_z" type="revolute">
507
+ <parent link="link_mf_dd_y"/>
508
+ <child link="link_mf_dd_z"/>
509
+ <origin xyz="0.0 0.0 0.0"/>
510
+ <axis xyz="0 0 1"/>
511
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
512
+
513
+ </joint>
514
+
515
+ <link name="link_mftip">
516
+ <inertial>
517
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
518
+ <mass value="0.00000"/>
519
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
520
+ </inertial>
521
+ </link>
522
+ <!-- Fix Finger joint -->
523
+ <joint name="MFTip" type="fixed">
524
+ <parent link="link_mf_dd_z"/>
525
+ <child link="link_mftip"/>
526
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
527
+ </joint>
528
+
529
+ <!-- RF -->
530
+ <link name="rffixed">
531
+ <inertial>
532
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
533
+ <mass value="0.0"/>
534
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
535
+ </inertial>
536
+ </link>
537
+
538
+ <!-- Fix Finger joint -->
539
+ <joint name="Palm_RFJ2" type="fixed">
540
+ <!-- <parent link="link_palm_rz"/> -->
541
+ <parent link="palm"/>
542
+ <child link="rffixed"/>
543
+ <origin xyz="0.0 0.0 0.0"/>
544
+ </joint>
545
+
546
+
547
+ <link name="rfproximal">
548
+ <inertial>
549
+ <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
550
+ <mass value="0.00725"/>
551
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
552
+ </inertial>
553
+ </link>
554
+ <link name="link_rf_pm_y">
555
+ <inertial>
556
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
557
+ <mass value="0.00000"/>
558
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
559
+ </inertial>
560
+ </link>
561
+ <link name="link_rf_pm_z">
562
+ <inertial>
563
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
564
+ <mass value="0.00000"/>
565
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
566
+ </inertial>
567
+
568
+ <visual>
569
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
570
+ <geometry>
571
+ <mesh filename="meshes/rfprox_mean.stl" scale="3 3 3"/>
572
+ </geometry>
573
+ </visual>
574
+ </link>
575
+ <!-- RF2 proximal joint -->
576
+ <joint name="RFJ2" type="revolute">
577
+ <parent link="rffixed"/>
578
+ <child link="rfproximal"/>
579
+ <origin xyz="-0.24520650506019592 -0.01187225989997387 -0.08001960068941116"/>
580
+ <axis xyz="1 0 0"/>
581
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
582
+
583
+ </joint>
584
+ <joint name="RFJ2_y" type="revolute">
585
+ <parent link="rfproximal"/>
586
+ <child link="link_rf_pm_y"/>
587
+ <origin xyz="0.0 0.0 0.0"/>
588
+ <axis xyz="0 1 0"/>
589
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
590
+
591
+ </joint>
592
+ <joint name="RFJ2_z" type="revolute">
593
+ <parent link="link_rf_pm_y"/>
594
+ <child link="link_rf_pm_z"/>
595
+ <origin xyz="0.0 0.0 0.0"/>
596
+ <axis xyz="0 0 1"/>
597
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
598
+
599
+ </joint>
600
+
601
+ <link name="rfmiddle">
602
+ <inertial>
603
+ <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
604
+ <mass value="0.00487"/>
605
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
606
+ </inertial>
607
+ </link>
608
+ <link name="link_rf_md_y">
609
+ <inertial>
610
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
611
+ <mass value="0.00000"/>
612
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
613
+ </inertial>
614
+ </link>
615
+ <link name="link_rf_md_z">
616
+ <inertial>
617
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
618
+ <mass value="0.00000"/>
619
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
620
+ </inertial>
621
+
622
+ <visual>
623
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
624
+ <geometry>
625
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="3 3 3"/>
626
+ </geometry>
627
+ </visual>
628
+ </link>
629
+ <!-- RF1 joint -->
630
+ <joint name="RFJ1" type="revolute">
631
+ <parent link="link_rf_pm_z"/>
632
+ <child link="rfmiddle"/>
633
+ <origin xyz="-0.08494289964437485 0.006201029755175114 -0.015295619145035744"/>
634
+ <axis xyz="1 0 0"/>
635
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
636
+
637
+ </joint>
638
+ <joint name="RFJ1_y" type="revolute">
639
+ <parent link="rfmiddle"/>
640
+ <child link="link_rf_md_y"/>
641
+ <origin xyz="0.0 0.0 0.0"/>
642
+ <axis xyz="0 1 0"/>
643
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
644
+
645
+ </joint>
646
+ <joint name="RFJ1_z" type="revolute">
647
+ <parent link="link_rf_md_y"/>
648
+ <child link="link_rf_md_z"/>
649
+ <origin xyz="0.0 0.0 0.0"/>
650
+ <axis xyz="0 0 1"/>
651
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
652
+
653
+ </joint>
654
+
655
+ <link name="rfdistal">
656
+ <inertial>
657
+ <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
658
+ <mass value="0.00272"/>
659
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
660
+ </inertial>
661
+ </link>
662
+ <link name="link_rf_dd_y">
663
+ <inertial>
664
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
665
+ <mass value="0.00000"/>
666
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
667
+ </inertial>
668
+ </link>
669
+ <link name="link_rf_dd_z">
670
+ <inertial>
671
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
672
+ <mass value="0.00000"/>
673
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
674
+ </inertial>
675
+
676
+ <visual>
677
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
678
+ <geometry>
679
+ <mesh filename="meshes/rfdist_mean.stl" scale="3 3 3"/>
680
+ </geometry>
681
+ </visual>
682
+ </link>
683
+ <!-- RF0 joint -->
684
+ <joint name="RFJ0" type="revolute">
685
+ <parent link="link_rf_md_z"/>
686
+ <child link="rfdistal"/>
687
+ <origin xyz="-0.0705614984035492 -0.005064330063760281 -0.022901460528373718"/>
688
+ <axis xyz="1 0 0"/>
689
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
690
+
691
+ </joint>
692
+ <joint name="RFJ0_y" type="revolute">
693
+ <parent link="rfdistal"/>
694
+ <child link="link_rf_dd_y"/>
695
+ <origin xyz="0.0 0.0 0.0"/>
696
+ <axis xyz="0 1 0"/>
697
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
698
+
699
+ </joint>
700
+ <joint name="RFJ0_z" type="revolute">
701
+ <parent link="link_rf_dd_y"/>
702
+ <child link="link_rf_dd_z"/>
703
+ <origin xyz="0.0 0.0 0.0"/>
704
+ <axis xyz="0 0 1"/>
705
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
706
+
707
+ </joint>
708
+
709
+ <link name="link_rftip">
710
+ <inertial>
711
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
712
+ <mass value="0.00000"/>
713
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
714
+ </inertial>
715
+ </link>
716
+ <!-- Fix Finger joint -->
717
+ <joint name="RFTip" type="fixed">
718
+ <parent link="link_rf_dd_z"/>
719
+ <child link="link_rftip"/>
720
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
721
+ </joint>
722
+
723
+ <!-- LF -->
724
+ <link name="lffixed">
725
+ <inertial>
726
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
727
+ <mass value="0.0"/>
728
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
729
+ </inertial>
730
+ </link>
731
+ <!-- Fix Finger joint -->
732
+ <joint name="Palm_LFJ2" type="fixed">
733
+ <!-- <parent link="link_palm_rz"/> -->
734
+ <parent link="palm"/>
735
+ <child link="lffixed"/>
736
+ <origin xyz="0.0 0.0 0.0"/>
737
+ </joint>
738
+
739
+
740
+ <link name="lfproximal">
741
+ <inertial>
742
+ <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
743
+ <mass value="0.00416"/>
744
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
745
+ </inertial>
746
+ </link>
747
+ <link name="link_lf_pm_y">
748
+ <inertial>
749
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
750
+ <mass value="0.00000"/>
751
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
752
+ </inertial>
753
+ </link>
754
+ <link name="link_lf_pm_z">
755
+ <inertial>
756
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
757
+ <mass value="0.00000"/>
758
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
759
+ </inertial>
760
+
761
+ <visual>
762
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
763
+ <geometry>
764
+ <mesh filename="meshes/lfprox_mean.stl" scale="3 3 3"/>
765
+ </geometry>
766
+ </visual>
767
+ </link>
768
+ <!-- LF2 proximal joint -->
769
+ <joint name="LFJ2" type="revolute">
770
+ <parent link="lffixed"/>
771
+ <child link="lfproximal"/>
772
+ <origin xyz="-0.20636069774627686 -0.029820989817380905 -0.12962789833545685"/>
773
+ <axis xyz="1 0 0"/>
774
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
775
+
776
+ </joint>
777
+ <joint name="LFJ2_y" type="revolute">
778
+ <parent link="lfproximal"/>
779
+ <child link="link_lf_pm_y"/>
780
+ <origin xyz="0.0 0.0 0.0"/>
781
+ <axis xyz="0 1 0"/>
782
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
783
+
784
+ </joint>
785
+ <joint name="LFJ2_z" type="revolute">
786
+ <parent link="link_lf_pm_y"/>
787
+ <child link="link_lf_pm_z"/>
788
+ <origin xyz="0.0 0.0 0.0"/>
789
+ <axis xyz="0 0 1"/>
790
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
791
+
792
+ </joint>
793
+
794
+ <link name="lfmiddle">
795
+ <inertial>
796
+ <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
797
+ <mass value="0.00269"/>
798
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
799
+ </inertial>
800
+ </link>
801
+ <link name="link_lf_md_y">
802
+ <inertial>
803
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
804
+ <mass value="0.00000"/>
805
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
806
+ </inertial>
807
+ </link>
808
+ <link name="link_lf_md_z">
809
+ <inertial>
810
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
811
+ <mass value="0.00000"/>
812
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
813
+ </inertial>
814
+
815
+ <visual>
816
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
817
+ <geometry>
818
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="3 3 3"/>
819
+ </geometry>
820
+ </visual>
821
+ </link>
822
+ <!-- LF1 joint -->
823
+ <joint name="LFJ1" type="revolute">
824
+ <parent link="link_lf_pm_z"/>
825
+ <child link="lfmiddle"/>
826
+ <origin xyz="-0.05104319751262665 0.0001854747097240761 -0.03749639913439751"/>
827
+ <axis xyz="1 0 0"/>
828
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
829
+
830
+ </joint>
831
+ <joint name="LFJ1_y" type="revolute">
832
+ <parent link="lfmiddle"/>
833
+ <child link="link_lf_md_y"/>
834
+ <origin xyz="0.0 0.0 0.0"/>
835
+ <axis xyz="0 1 0"/>
836
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
837
+
838
+ </joint>
839
+ <joint name="LFJ1_z" type="revolute">
840
+ <parent link="link_lf_md_y"/>
841
+ <child link="link_lf_md_z"/>
842
+ <origin xyz="0.0 0.0 0.0"/>
843
+ <axis xyz="0 0 1"/>
844
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
845
+
846
+ </joint>
847
+
848
+ <link name="lfdistal">
849
+ <inertial>
850
+ <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
851
+ <mass value="0.00150"/>
852
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
853
+ </inertial>
854
+ </link>
855
+ <link name="link_lf_dd_y">
856
+ <inertial>
857
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
858
+ <mass value="0.00000"/>
859
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
860
+ </inertial>
861
+ </link>
862
+ <link name="link_lf_dd_z">
863
+ <inertial>
864
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
865
+ <mass value="0.00000"/>
866
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
867
+ </inertial>
868
+
869
+ <visual>
870
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
871
+ <geometry>
872
+ <mesh filename="meshes/lfdist_mean.stl" scale="3 3 3"/>
873
+ </geometry>
874
+ </visual>
875
+ </link>
876
+ <!-- LF0 joint -->
877
+ <joint name="LFJ0" type="revolute">
878
+ <parent link="link_lf_md_z"/>
879
+ <child link="lfdistal"/>
880
+ <origin xyz="-0.047600701451301575 -0.0020734649151563644 -0.030995700508356094"/>
881
+ <axis xyz="1 0 0"/>
882
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
883
+
884
+ </joint>
885
+ <joint name="LFJ0_y" type="revolute">
886
+ <parent link="lfdistal"/>
887
+ <child link="link_lf_dd_y"/>
888
+ <origin xyz="0.0 0.0 0.0"/>
889
+ <axis xyz="0 1 0"/>
890
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
891
+
892
+ </joint>
893
+ <joint name="LFJ0_z" type="revolute">
894
+ <parent link="link_lf_dd_y"/>
895
+ <child link="link_lf_dd_z"/>
896
+ <origin xyz="0.0 0.0 0.0"/>
897
+ <axis xyz="0 0 1"/>
898
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
899
+
900
+ </joint>
901
+ <link name="link_lftip">
902
+ <inertial>
903
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
904
+ <mass value="0.00000"/>
905
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
906
+ </inertial>
907
+ </link>
908
+ <!-- Fix Finger joint -->
909
+ <joint name="LFTip" type="fixed">
910
+ <parent link="link_lf_dd_z"/>
911
+ <child link="link_lftip"/>
912
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
913
+ </joint>
914
+
915
+
916
+ <!-- TH -->
917
+ <link name="thfixed">
918
+ <inertial>
919
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
920
+ <mass value="0.0"/>
921
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
922
+ </inertial>
923
+ </link>
924
+ <!-- Fix Finger joint -->
925
+ <joint name="Palm_THJ2" type="fixed">
926
+ <!-- <parent link="link_palm_rz"/> -->
927
+ <parent link="palm"/>
928
+ <child link="thfixed"/>
929
+ <origin xyz="0.0 0.0 0.0"/>
930
+ </joint>
931
+
932
+
933
+ <link name="thproximal">
934
+ <inertial>
935
+ <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
936
+ <mass value="0.01392"/>
937
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
938
+ </inertial>
939
+ </link>
940
+ <link name="link_th_pm_y">
941
+ <inertial>
942
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
943
+ <mass value="0.00000"/>
944
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
945
+ </inertial>
946
+ </link>
947
+ <link name="link_th_pm_z">
948
+ <inertial>
949
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
950
+ <mass value="0.00000"/>
951
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
952
+ </inertial>
953
+
954
+ <visual>
955
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
956
+ <geometry>
957
+ <mesh filename="meshes/thprox_mean.stl" scale="3 3 3"/>
958
+ </geometry>
959
+ </visual>
960
+ </link>
961
+ <!-- TH2 proximal joint -->
962
+ <joint name="THJ2" type="revolute">
963
+ <parent link="thfixed"/>
964
+ <child link="thproximal"/>
965
+ <origin xyz="-0.07226909697055817 -0.04656689986586571 0.07743839919567108"/>
966
+ <axis xyz="1 0 0"/>
967
+ <limit effort="1000" lower="0" upper="1.57" velocity="0.5"/>
968
+ </joint>
969
+ <joint name="THJ2_y" type="revolute">
970
+ <parent link="thproximal"/>
971
+ <child link="link_th_pm_y"/>
972
+ <origin xyz="0.0 0.0 0.0"/>
973
+ <axis xyz="0 1 0"/>
974
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
975
+ </joint>
976
+ <joint name="THJ2_z" type="revolute">
977
+ <parent link="link_th_pm_y"/>
978
+ <child link="link_th_pm_z"/>
979
+ <origin xyz="0.0 0.0 0.0"/>
980
+ <axis xyz="0 0 1"/>
981
+ <limit effort="1000" lower="-0.25" upper="0.25" velocity="0.5"/>
982
+ </joint>
983
+
984
+ <link name="thmiddle">
985
+ <inertial>
986
+ <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
987
+ <mass value="0.00802"/>
988
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
989
+ </inertial>
990
+ </link>
991
+ <link name="link_th_md_y">
992
+ <inertial>
993
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
994
+ <mass value="0.00000"/>
995
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
996
+ </inertial>
997
+ </link>
998
+ <link name="link_th_md_z">
999
+ <inertial>
1000
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1001
+ <mass value="0.00000"/>
1002
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1003
+ </inertial>
1004
+
1005
+ <visual>
1006
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1007
+ <geometry>
1008
+ <mesh filename="meshes/thmiddle_mean.stl" scale="3 3 3"/>
1009
+ </geometry>
1010
+ </visual>
1011
+ </link>
1012
+ <!-- TH1 joint -->
1013
+ <joint name="THJ1" type="revolute">
1014
+ <parent link="link_th_pm_z"/>
1015
+ <child link="thmiddle"/>
1016
+ <origin xyz="-0.05889960005879402 0.0026738580781966448 0.07109849900007248"/>
1017
+ <axis xyz="1 0 0"/>
1018
+ <limit effort="1000" lower="-1" upper="1" velocity="0.5"/>
1019
+ </joint>
1020
+ <joint name="THJ1_y" type="revolute">
1021
+ <parent link="thmiddle"/>
1022
+ <child link="link_th_md_y"/>
1023
+ <origin xyz="0.0 0.0 0.0"/>
1024
+ <axis xyz="0 1 0"/>
1025
+ <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/>
1026
+ </joint>
1027
+ <joint name="THJ1_z" type="revolute">
1028
+ <parent link="link_th_md_y"/>
1029
+ <child link="link_th_md_z"/>
1030
+ <origin xyz="0.0 0.0 0.0"/>
1031
+ <axis xyz="0 0 1"/>
1032
+ <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/>
1033
+ </joint>
1034
+
1035
+ <link name="thdistal">
1036
+ <inertial>
1037
+ <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
1038
+ <mass value="0.00726"/>
1039
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1040
+ </inertial>
1041
+ </link>
1042
+ <link name="link_th_dd_y">
1043
+ <inertial>
1044
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1045
+ <mass value="0.00000"/>
1046
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1047
+ </inertial>
1048
+ </link>
1049
+ <link name="link_th_dd_z">
1050
+ <inertial>
1051
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1052
+ <mass value="0.00000"/>
1053
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1054
+ </inertial>
1055
+
1056
+ <visual>
1057
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1058
+ <geometry>
1059
+ <mesh filename="meshes/thdist_mean.stl" scale="3 3 3"/>
1060
+ </geometry>
1061
+ </visual>
1062
+ </link>
1063
+ <!-- TH0 joint -->
1064
+ <joint name="THJ0" type="revolute">
1065
+ <parent link="link_th_md_z"/>
1066
+ <child link="thdistal"/>
1067
+ <origin xyz="-0.06665310263633728 -0.01629890874028206 0.04357229918241501"/>
1068
+ <axis xyz="1 0 0"/>
1069
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
1070
+
1071
+ </joint>
1072
+ <joint name="THJ0_y" type="revolute">
1073
+ <parent link="thdistal"/>
1074
+ <child link="link_th_dd_y"/>
1075
+ <origin xyz="0.0 0.0 0.0"/>
1076
+ <axis xyz="0 1 0"/>
1077
+ <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/>
1078
+
1079
+ </joint>
1080
+ <joint name="THJ0_z" type="revolute">
1081
+ <parent link="link_th_dd_y"/>
1082
+ <child link="link_th_dd_z"/>
1083
+ <origin xyz="0.0 0.0 0.0"/>
1084
+ <axis xyz="0 0 1"/>
1085
+ <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/>
1086
+
1087
+ </joint>
1088
+ <link name="link_thtip">
1089
+ <inertial>
1090
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1091
+ <mass value="0.00000"/>
1092
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1093
+ </inertial>
1094
+ </link>
1095
+ <!-- Fix Finger joint -->
1096
+ <joint name="THTip" type="fixed">
1097
+ <parent link="link_th_dd_z"/>
1098
+ <child link="link_thtip"/>
1099
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1100
+ </joint>
1101
+
1102
+
1103
+ </robot>
rsc/mano/mano_mean_nocoll_simplified_scaled_wbasejts.urdf ADDED
@@ -0,0 +1,1123 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="mano">
3
+
4
+
5
+ <link name="sliderBar">
6
+ <inertial>
7
+ <mass value="0"/>
8
+ <!-- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> -->
9
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
10
+ </inertial>
11
+ </link>
12
+
13
+ <!-- /home/xueyi/diffsim/dgrasp/rsc/mano -->
14
+
15
+ <!--
16
+ Palm
17
+ -->
18
+ <!-- Palm -->
19
+ <link name="palm">
20
+ <inertial>
21
+ <!-- <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/> -->
22
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
23
+ <mass value="0.25042"/>
24
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
25
+ </inertial>
26
+ </link>
27
+
28
+ <link name="link_palm_y">
29
+ <inertial>
30
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
31
+ <mass value="0.00000"/>
32
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
33
+ </inertial>
34
+ </link>
35
+ <link name="link_palm_z">
36
+ <inertial>
37
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
38
+ <mass value="0.00000"/>
39
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
40
+ </inertial>
41
+ </link>
42
+ <link name="link_palm_rx">
43
+ <inertial>
44
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
45
+ <mass value="0.00000"/>
46
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
47
+ </inertial>
48
+ </link>
49
+ <link name="link_palm_ry">
50
+ <inertial>
51
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
52
+ <mass value="0.00000"/>
53
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
54
+ </inertial>
55
+ </link>
56
+ <link name="link_palm_rz">
57
+ <inertial>
58
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
59
+ <mass value="0.00000"/>
60
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
61
+ </inertial>
62
+ <visual>
63
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
64
+ <geometry>
65
+ <mesh filename="meshes/palm_mean.stl" scale="3 3 3"/>
66
+ </geometry>
67
+ </visual>
68
+ </link>
69
+
70
+ <!-- Hip joint -->
71
+ <joint name="WRJ0x" type="prismatic">
72
+ <parent link="sliderBar"/>
73
+ <child link="palm"/>
74
+ <origin xyz="0.0 0.0 0.0"/>
75
+ <axis xyz="1 0 0"/>
76
+ <limit effort="100.0" />
77
+ <dynamics damping="10.0" friction="0.0001"/>
78
+ </joint>
79
+ <joint name="WRJ0y" type="prismatic">
80
+ <parent link="palm"/>
81
+ <child link="link_palm_y"/>
82
+ <origin xyz="0.0 0.0 0.0"/>
83
+ <axis xyz="0 1 0"/>
84
+ <limit effort="100.0" />
85
+ <dynamics damping="10.0" friction="0.0001"/>
86
+ </joint>
87
+ <joint name="WRJ0z" type="prismatic">
88
+ <parent link="link_palm_y"/>
89
+ <child link="link_palm_z"/>
90
+ <origin xyz="0.0 0.0 0.0"/>
91
+ <axis xyz="0 0 1"/>
92
+ <limit effort="100.0" />
93
+ <dynamics damping="10.0" friction="0.0001"/>
94
+ </joint>
95
+ <joint name="WRJ0rx" type="revolute">
96
+ <parent link="link_palm_z"/>
97
+ <child link="link_palm_rx"/>
98
+ <origin xyz="0.0 0.0 0.0"/>
99
+ <axis xyz="1 0 0"/>
100
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
101
+ </joint>
102
+ <joint name="WRJ0ry" type="revolute">
103
+ <parent link="link_palm_rx"/>
104
+ <child link="link_palm_ry"/>
105
+ <origin xyz="0.0 0.0 0.0"/>
106
+ <axis xyz="0 1 0"/>
107
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
108
+ </joint>
109
+ <joint name="WRJ0rz" type="revolute">
110
+ <parent link="link_palm_ry"/>
111
+ <child link="link_palm_rz"/>
112
+ <origin xyz="0.0 0.0 0.0"/>
113
+ <axis xyz="0 0 1"/>
114
+ <limit effort="1000" lower="-3.14" upper="3.14" velocity="0.5"/>
115
+ </joint>
116
+
117
+ <!--
118
+ Palm
119
+ -->
120
+ <!-- Palm -->
121
+ <!-- <link name="palm">
122
+ <inertial>
123
+ <origin rpy="0 0 0" xyz="0 0 0"/>
124
+ <mass value="0.25042"/>
125
+ <inertia ixx="0." ixy="0" ixz="0" iyy="0." iyz="0" izz="0."/>
126
+ </inertial>
127
+ <visual>
128
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
129
+ <geometry>
130
+ <mesh filename="meshes/palm_mean.stl" scale="3 3 3"/>
131
+ </geometry>
132
+ </visual>
133
+ </link> -->
134
+
135
+
136
+ <!-- FF -->
137
+ <link name="fffixed">
138
+ <inertial>
139
+ <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
140
+ <mass value="0.0"/>
141
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
142
+ </inertial>
143
+ </link>
144
+ <!-- Fix Finger joint -->
145
+ <joint name="Palm_FFJ2" type="fixed">
146
+ <parent link="link_palm_rz"/>
147
+ <child link="fffixed"/>
148
+ <origin xyz="0.0 0.0 0.0"/>
149
+ </joint>
150
+
151
+
152
+ <link name="ffproximal">
153
+ <inertial>
154
+ <!-- <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/> -->
155
+ <origin rpy="0 0 0" xyz="0 0 0"/>
156
+ <mass value="0.00845"/>
157
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
158
+ </inertial>
159
+ </link>
160
+ <link name="link_ff_pm_y">
161
+ <inertial>
162
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
163
+ <mass value="0.00000"/>
164
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
165
+ </inertial>
166
+ </link>
167
+ <link name="link_ff_pm_z">
168
+ <inertial>
169
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
170
+ <mass value="0.00000"/>
171
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
172
+ </inertial>
173
+
174
+ <visual>
175
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
176
+ <geometry>
177
+ <mesh filename="meshes/ffprox_mean.stl" scale="3 3 3"/>
178
+ </geometry>
179
+ </visual>
180
+ </link>
181
+ <!-- FF2 proximal joint -->
182
+ <joint name="FFJ2" type="revolute">
183
+ <parent link="fffixed"/>
184
+ <child link="ffproximal"/>
185
+ <origin xyz="-0.26429158449172974 -0.015601079910993576 0.06205800175666809"/>
186
+ <axis xyz="1 0 0"/>
187
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
188
+
189
+ </joint>
190
+ <joint name="FFJ2_y" type="revolute">
191
+ <parent link="ffproximal"/>
192
+ <child link="link_ff_pm_y"/>
193
+ <origin xyz="0 0 0"/>
194
+ <axis xyz="0 1 0"/>
195
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
196
+
197
+ </joint>
198
+ <joint name="FFJ2_z" type="revolute">
199
+ <parent link="link_ff_pm_y"/>
200
+ <child link="link_ff_pm_z"/>
201
+ <origin xyz="0 0 0"/>
202
+ <axis xyz="0 0 1"/>
203
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
204
+
205
+ </joint>
206
+
207
+ <link name="ffmiddle_fixed">
208
+ <inertial>
209
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
210
+ <mass value="0.0"/>
211
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
212
+ </inertial>
213
+ </link>
214
+ <link name="ffmiddle">
215
+ <inertial>
216
+ <!-- <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/> -->
217
+ <origin rpy="0 0 0" xyz="0 0 0"/>
218
+ <mass value="0.00413"/>
219
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
220
+ </inertial>
221
+ </link>
222
+ <link name="link_ff_md_y">
223
+ <inertial>
224
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
225
+ <mass value="0.00000"/>
226
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
227
+ </inertial>
228
+ </link>
229
+ <link name="link_ff_md_z">
230
+ <inertial>
231
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
232
+ <mass value="0.00000"/>
233
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
234
+ </inertial>
235
+
236
+ <visual>
237
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
238
+ <geometry>
239
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="3 3 3"/>
240
+ </geometry>
241
+ </visual>
242
+ </link>
243
+ <!-- FF1 joint -->
244
+ <joint name="FFJ1_f" type="fixed">
245
+ <parent link="link_ff_pm_z"/>
246
+ <child link="ffmiddle_fixed"/>
247
+ <origin xyz="-0.09803669154644012 0.012028050608932972 0.006651179865002632"/>
248
+ <axis xyz="1 0 0"/>
249
+ </joint>
250
+ <joint name="FFJ1" type="revolute">
251
+ <parent link="ffmiddle_fixed"/>
252
+ <child link="ffmiddle"/>
253
+ <origin xyz="0.0 0.0 0.0"/>
254
+ <axis xyz="1 0 0"/>
255
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
256
+
257
+ </joint>
258
+ <joint name="FFJ1_y" type="revolute">
259
+ <parent link="ffmiddle"/>
260
+ <child link="link_ff_md_y"/>
261
+ <origin xyz="0.0 0.0 0.0"/>
262
+ <axis xyz="0 1 0"/>
263
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
264
+
265
+ </joint>
266
+ <joint name="FFJ1_z" type="revolute">
267
+ <parent link="link_ff_md_y"/>
268
+ <child link="link_ff_md_z"/>
269
+ <origin xyz="0.0 0.0 0.0"/>
270
+ <axis xyz="0 0 1"/>
271
+ <limit effort="1000" lower="-0.5000" upper="1.57" velocity="0.5"/>
272
+
273
+ </joint>
274
+
275
+ <link name="ffdistal">
276
+ <inertial>
277
+ <!-- <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/> -->
278
+ <origin rpy="0 0 0" xyz="0 0 0"/>
279
+ <mass value="0.00293"/>
280
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
281
+ </inertial>
282
+ </link>
283
+ <link name="link_ff_dd_y">
284
+ <inertial>
285
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
286
+ <mass value="0.00000"/>
287
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
288
+ </inertial>
289
+ </link>
290
+ <link name="link_ff_dd_z">
291
+ <inertial>
292
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
293
+ <mass value="0.00000"/>
294
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
295
+ </inertial>
296
+
297
+ <visual>
298
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
299
+ <geometry>
300
+ <mesh filename="meshes/ffdist_mean.stl" scale="3 3 3"/>
301
+ </geometry>
302
+ </visual>
303
+ </link>
304
+ <!-- FF1 joint -->
305
+ <joint name="FFJ0" type="revolute">
306
+ <parent link="link_ff_md_z"/>
307
+ <child link="ffdistal"/>
308
+ <origin xyz="-0.06646770238876343 -0.00389525992795825 -0.0003423269954510033"/>
309
+ <axis xyz="1 0 0"/>
310
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
311
+
312
+ </joint>
313
+ <joint name="FFJ0_y" type="revolute">
314
+ <parent link="ffdistal"/>
315
+ <child link="link_ff_dd_y"/>
316
+ <origin xyz="0.0 0.0 0.0"/>
317
+ <axis xyz="0 1 0"/>
318
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
319
+
320
+ </joint>
321
+ <joint name="FFJ0_z" type="revolute">
322
+ <parent link="link_ff_dd_y"/>
323
+ <child link="link_ff_dd_z"/>
324
+ <origin xyz="0.0 0.0 0.0"/>
325
+ <axis xyz="0 0 1"/>
326
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
327
+
328
+ </joint>
329
+
330
+ <link name="link_fftip">
331
+ <inertial>
332
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
333
+ <mass value="0.00000"/>
334
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
335
+ </inertial>
336
+ </link>
337
+ <!-- Fix Finger joint -->
338
+ <joint name="FFTip" type="fixed">
339
+ <parent link="link_ff_dd_z"/>
340
+ <child link="link_fftip"/>
341
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
342
+ </joint>
343
+
344
+ <!-- MF -->
345
+ <link name="mffixed">
346
+ <inertial>
347
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
348
+ <mass value="0.0"/>
349
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
350
+ </inertial>
351
+ </link>
352
+ <!-- Fix Finger joint -->
353
+ <joint name="Palm_MFJ2" type="fixed">
354
+ <!-- <parent link="link_palm_rz"/> -->
355
+ <parent link="link_palm_rz"/>
356
+ <child link="mffixed"/>
357
+ <origin xyz="0.0 0.0 0.0"/>
358
+ </joint>
359
+
360
+
361
+ <link name="mfproximal">
362
+ <inertial>
363
+ <!-- <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/> -->
364
+ <origin rpy="0 0 0" xyz="0 0 0"/>
365
+ <mass value="0.00996"/>
366
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
367
+ </inertial>
368
+ </link>
369
+ <link name="link_mf_pm_y">
370
+ <inertial>
371
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
372
+ <mass value="0.00000"/>
373
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
374
+ </inertial>
375
+ </link>
376
+ <link name="link_mf_pm_z">
377
+ <inertial>
378
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
379
+ <mass value="0.00000"/>
380
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
381
+ </inertial>
382
+
383
+ <visual>
384
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
385
+ <geometry>
386
+ <mesh filename="meshes/mfprox_mean.stl" scale="3 3 3"/>
387
+ </geometry>
388
+ </visual>
389
+ </link>
390
+
391
+ <!-- MF2 proximal joint -->
392
+ <joint name="MFJ2" type="revolute">
393
+ <parent link="mffixed"/>
394
+ <child link="mfproximal"/>
395
+ <origin xyz="-0.28398120403289795 -0.004436880350112915 -0.010072619654238224"/>
396
+ <axis xyz="1 0 0"/>
397
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
398
+
399
+ </joint>
400
+ <joint name="MFJ2_y" type="revolute">
401
+ <parent link="mfproximal"/>
402
+ <child link="link_mf_pm_y"/>
403
+ <origin xyz="0.0 0.0 0.0"/>
404
+ <axis xyz="0 1 0"/>
405
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
406
+
407
+ </joint>
408
+ <joint name="MFJ2_z" type="revolute">
409
+ <parent link="link_mf_pm_y"/>
410
+ <child link="link_mf_pm_z"/>
411
+ <origin xyz="0.0 0.0 0.0"/>
412
+ <axis xyz="0 0 1"/>
413
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
414
+
415
+ </joint>
416
+
417
+ <link name="mfmiddle">
418
+ <inertial>
419
+ <!-- <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/> -->
420
+ <origin rpy="0 0 0" xyz="0 0 0"/>
421
+ <mass value="0.00400"/>
422
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
423
+ </inertial>
424
+ </link>
425
+ <link name="link_mf_md_y">
426
+ <inertial>
427
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
428
+ <mass value="0.00000"/>
429
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
430
+ </inertial>
431
+ </link>
432
+ <link name="link_mf_md_z">
433
+ <inertial>
434
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
435
+ <mass value="0.00000"/>
436
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
437
+ </inertial>
438
+
439
+ <visual>
440
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
441
+ <geometry>
442
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="3 3 3"/>
443
+ </geometry>
444
+ </visual>
445
+ </link>
446
+ <!-- MF1 joint -->
447
+ <joint name="MFJ1" type="revolute">
448
+ <parent link="link_mf_pm_z"/>
449
+ <child link="mfmiddle"/>
450
+ <origin xyz="-0.09354810416698456 0.005583989899605513 -0.01678352989256382"/>
451
+ <axis xyz="1 0 0"/>
452
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
453
+ </joint>
454
+
455
+ <joint name="MFJ1_y" type="revolute">
456
+ <parent link="mfmiddle"/>
457
+ <child link="link_mf_md_y"/>
458
+ <origin xyz="0.0 0.0 0.0"/>
459
+ <axis xyz="0 1 0"/>
460
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
461
+ </joint>
462
+
463
+ <joint name="MFJ1_z" type="revolute">
464
+ <parent link="link_mf_md_y"/>
465
+ <child link="link_mf_md_z"/>
466
+ <origin xyz="0.0 0.0 0.0"/>
467
+ <axis xyz="0 0 1"/>
468
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
469
+ </joint>
470
+
471
+ <link name="mfdistal">
472
+ <inertial>
473
+ <!-- <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/> -->
474
+ <origin rpy="0 0 0" xyz="0 0 0"/>
475
+ <mass value="0.00289"/>
476
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
477
+ </inertial>
478
+ </link>
479
+ <link name="link_mf_dd_y">
480
+ <inertial>
481
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
482
+ <mass value="0.00000"/>
483
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
484
+ </inertial>
485
+ </link>
486
+ <link name="link_mf_dd_z">
487
+ <inertial>
488
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
489
+ <mass value="0.00000"/>
490
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
491
+ </inertial>
492
+
493
+ <visual>
494
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
495
+ <geometry>
496
+ <mesh filename="meshes/mfdist_mean.stl" scale="3 3 3"/>
497
+ </geometry>
498
+ </visual>
499
+ </link>
500
+ <!-- MF0 joint -->
501
+ <joint name="MFJ0" type="revolute">
502
+ <parent link="link_mf_md_z"/>
503
+ <child link="mfdistal"/>
504
+ <origin xyz="-0.06871379911899567 -0.0037563000805675983 -0.011833559721708298"/>
505
+ <axis xyz="1 0 0"/>
506
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
507
+
508
+ </joint>
509
+ <joint name="MFJ0_y" type="revolute">
510
+ <parent link="mfdistal"/>
511
+ <child link="link_mf_dd_y"/>
512
+ <origin xyz="0.0 0.0 0.0"/>
513
+ <axis xyz="0 1 0"/>
514
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
515
+
516
+ </joint>
517
+ <joint name="MFJ0_z" type="revolute">
518
+ <parent link="link_mf_dd_y"/>
519
+ <child link="link_mf_dd_z"/>
520
+ <origin xyz="0.0 0.0 0.0"/>
521
+ <axis xyz="0 0 1"/>
522
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
523
+
524
+ </joint>
525
+
526
+ <link name="link_mftip">
527
+ <inertial>
528
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
529
+ <mass value="0.00000"/>
530
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
531
+ </inertial>
532
+ </link>
533
+ <!-- Fix Finger joint -->
534
+ <joint name="MFTip" type="fixed">
535
+ <parent link="link_mf_dd_z"/>
536
+ <child link="link_mftip"/>
537
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
538
+ </joint>
539
+
540
+ <!-- RF -->
541
+ <link name="rffixed">
542
+ <inertial>
543
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
544
+ <mass value="0.0"/>
545
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
546
+ </inertial>
547
+ </link>
548
+
549
+ <!-- Fix Finger joint -->
550
+ <joint name="Palm_RFJ2" type="fixed">
551
+ <parent link="link_palm_rz"/>
552
+ <!-- <parent link="palm"/> -->
553
+ <child link="rffixed"/>
554
+ <origin xyz="0.0 0.0 0.0"/>
555
+ </joint>
556
+
557
+
558
+ <link name="rfproximal">
559
+ <inertial>
560
+ <!-- <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/> -->
561
+ <origin rpy="0 0 0" xyz="0 0 0"/>
562
+ <mass value="0.00725"/>
563
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
564
+ </inertial>
565
+ </link>
566
+ <link name="link_rf_pm_y">
567
+ <inertial>
568
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
569
+ <mass value="0.00000"/>
570
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
571
+ </inertial>
572
+ </link>
573
+ <link name="link_rf_pm_z">
574
+ <inertial>
575
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
576
+ <mass value="0.00000"/>
577
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
578
+ </inertial>
579
+
580
+ <visual>
581
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
582
+ <geometry>
583
+ <mesh filename="meshes/rfprox_mean.stl" scale="3 3 3"/>
584
+ </geometry>
585
+ </visual>
586
+ </link>
587
+ <!-- RF2 proximal joint -->
588
+ <joint name="RFJ2" type="revolute">
589
+ <parent link="rffixed"/>
590
+ <child link="rfproximal"/>
591
+ <origin xyz="-0.24520650506019592 -0.01187225989997387 -0.08001960068941116"/>
592
+ <axis xyz="1 0 0"/>
593
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
594
+
595
+ </joint>
596
+ <joint name="RFJ2_y" type="revolute">
597
+ <parent link="rfproximal"/>
598
+ <child link="link_rf_pm_y"/>
599
+ <origin xyz="0.0 0.0 0.0"/>
600
+ <axis xyz="0 1 0"/>
601
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
602
+
603
+ </joint>
604
+ <joint name="RFJ2_z" type="revolute">
605
+ <parent link="link_rf_pm_y"/>
606
+ <child link="link_rf_pm_z"/>
607
+ <origin xyz="0.0 0.0 0.0"/>
608
+ <axis xyz="0 0 1"/>
609
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
610
+
611
+ </joint>
612
+
613
+ <link name="rfmiddle">
614
+ <inertial>
615
+ <!-- <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/> -->
616
+ <origin rpy="0 0 0" xyz="0 0 0"/>
617
+ <mass value="0.00487"/>
618
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
619
+ </inertial>
620
+ </link>
621
+ <link name="link_rf_md_y">
622
+ <inertial>
623
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
624
+ <mass value="0.00000"/>
625
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
626
+ </inertial>
627
+ </link>
628
+ <link name="link_rf_md_z">
629
+ <inertial>
630
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
631
+ <mass value="0.00000"/>
632
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
633
+ </inertial>
634
+
635
+ <visual>
636
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
637
+ <geometry>
638
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="3 3 3"/>
639
+ </geometry>
640
+ </visual>
641
+ </link>
642
+ <!-- RF1 joint -->
643
+ <joint name="RFJ1" type="revolute">
644
+ <parent link="link_rf_pm_z"/>
645
+ <child link="rfmiddle"/>
646
+ <origin xyz="-0.08494289964437485 0.006201029755175114 -0.015295619145035744"/>
647
+ <axis xyz="1 0 0"/>
648
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
649
+
650
+ </joint>
651
+ <joint name="RFJ1_y" type="revolute">
652
+ <parent link="rfmiddle"/>
653
+ <child link="link_rf_md_y"/>
654
+ <origin xyz="0.0 0.0 0.0"/>
655
+ <axis xyz="0 1 0"/>
656
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
657
+
658
+ </joint>
659
+ <joint name="RFJ1_z" type="revolute">
660
+ <parent link="link_rf_md_y"/>
661
+ <child link="link_rf_md_z"/>
662
+ <origin xyz="0.0 0.0 0.0"/>
663
+ <axis xyz="0 0 1"/>
664
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
665
+
666
+ </joint>
667
+
668
+ <link name="rfdistal">
669
+ <inertial>
670
+ <!-- <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/> -->
671
+ <origin rpy="0 0 0" xyz="0 0 0"/>
672
+ <mass value="0.00272"/>
673
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
674
+ </inertial>
675
+ </link>
676
+ <link name="link_rf_dd_y">
677
+ <inertial>
678
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
679
+ <mass value="0.00000"/>
680
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
681
+ </inertial>
682
+ </link>
683
+ <link name="link_rf_dd_z">
684
+ <inertial>
685
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
686
+ <mass value="0.00000"/>
687
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
688
+ </inertial>
689
+
690
+ <visual>
691
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
692
+ <geometry>
693
+ <mesh filename="meshes/rfdist_mean.stl" scale="3 3 3"/>
694
+ </geometry>
695
+ </visual>
696
+ </link>
697
+ <!-- RF0 joint -->
698
+ <joint name="RFJ0" type="revolute">
699
+ <parent link="link_rf_md_z"/>
700
+ <child link="rfdistal"/>
701
+ <origin xyz="-0.0705614984035492 -0.005064330063760281 -0.022901460528373718"/>
702
+ <axis xyz="1 0 0"/>
703
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
704
+
705
+ </joint>
706
+ <joint name="RFJ0_y" type="revolute">
707
+ <parent link="rfdistal"/>
708
+ <child link="link_rf_dd_y"/>
709
+ <origin xyz="0.0 0.0 0.0"/>
710
+ <axis xyz="0 1 0"/>
711
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
712
+
713
+ </joint>
714
+ <joint name="RFJ0_z" type="revolute">
715
+ <parent link="link_rf_dd_y"/>
716
+ <child link="link_rf_dd_z"/>
717
+ <origin xyz="0.0 0.0 0.0"/>
718
+ <axis xyz="0 0 1"/>
719
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
720
+
721
+ </joint>
722
+
723
+ <link name="link_rftip">
724
+ <inertial>
725
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
726
+ <mass value="0.00000"/>
727
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
728
+ </inertial>
729
+ </link>
730
+ <!-- Fix Finger joint -->
731
+ <joint name="RFTip" type="fixed">
732
+ <parent link="link_rf_dd_z"/>
733
+ <child link="link_rftip"/>
734
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
735
+ </joint>
736
+
737
+ <!-- LF -->
738
+ <link name="lffixed">
739
+ <inertial>
740
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
741
+ <mass value="0.0"/>
742
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
743
+ </inertial>
744
+ </link>
745
+ <!-- Fix Finger joint -->
746
+ <joint name="Palm_LFJ2" type="fixed">
747
+ <parent link="link_palm_rz"/>
748
+ <!-- <parent link="palm"/> -->
749
+ <child link="lffixed"/>
750
+ <origin xyz="0.0 0.0 0.0"/>
751
+ </joint>
752
+
753
+
754
+ <link name="lfproximal">
755
+ <inertial>
756
+ <!-- <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/> -->
757
+ <origin rpy="0 0 0" xyz="0 0 0"/>
758
+ <mass value="0.00416"/>
759
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
760
+ </inertial>
761
+ </link>
762
+ <link name="link_lf_pm_y">
763
+ <inertial>
764
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
765
+ <mass value="0.00000"/>
766
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
767
+ </inertial>
768
+ </link>
769
+ <link name="link_lf_pm_z">
770
+ <inertial>
771
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
772
+ <mass value="0.00000"/>
773
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
774
+ </inertial>
775
+
776
+ <visual>
777
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
778
+ <geometry>
779
+ <mesh filename="meshes/lfprox_mean.stl" scale="3 3 3"/>
780
+ </geometry>
781
+ </visual>
782
+ </link>
783
+ <!-- LF2 proximal joint -->
784
+ <joint name="LFJ2" type="revolute">
785
+ <parent link="lffixed"/>
786
+ <child link="lfproximal"/>
787
+ <origin xyz="-0.20636069774627686 -0.029820989817380905 -0.12962789833545685"/>
788
+ <axis xyz="1 0 0"/>
789
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
790
+
791
+ </joint>
792
+ <joint name="LFJ2_y" type="revolute">
793
+ <parent link="lfproximal"/>
794
+ <child link="link_lf_pm_y"/>
795
+ <origin xyz="0.0 0.0 0.0"/>
796
+ <axis xyz="0 1 0"/>
797
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
798
+
799
+ </joint>
800
+ <joint name="LFJ2_z" type="revolute">
801
+ <parent link="link_lf_pm_y"/>
802
+ <child link="link_lf_pm_z"/>
803
+ <origin xyz="0.0 0.0 0.0"/>
804
+ <axis xyz="0 0 1"/>
805
+ <limit effort="1000" lower="-0.0" upper="1.57" velocity="0.5"/>
806
+
807
+ </joint>
808
+
809
+ <link name="lfmiddle">
810
+ <inertial>
811
+ <!-- <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/> -->
812
+ <origin rpy="0 0 0" xyz="0 0 0"/>
813
+ <mass value="0.00269"/>
814
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
815
+ </inertial>
816
+ </link>
817
+ <link name="link_lf_md_y">
818
+ <inertial>
819
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
820
+ <mass value="0.00000"/>
821
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
822
+ </inertial>
823
+ </link>
824
+ <link name="link_lf_md_z">
825
+ <inertial>
826
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
827
+ <mass value="0.00000"/>
828
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
829
+ </inertial>
830
+
831
+ <visual>
832
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
833
+ <geometry>
834
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="3 3 3"/>
835
+ </geometry>
836
+ </visual>
837
+ </link>
838
+ <!-- LF1 joint -->
839
+ <joint name="LFJ1" type="revolute">
840
+ <parent link="link_lf_pm_z"/>
841
+ <child link="lfmiddle"/>
842
+ <origin xyz="-0.05104319751262665 0.0001854747097240761 -0.03749639913439751"/>
843
+ <axis xyz="1 0 0"/>
844
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
845
+
846
+ </joint>
847
+ <joint name="LFJ1_y" type="revolute">
848
+ <parent link="lfmiddle"/>
849
+ <child link="link_lf_md_y"/>
850
+ <origin xyz="0.0 0.0 0.0"/>
851
+ <axis xyz="0 1 0"/>
852
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
853
+
854
+ </joint>
855
+ <joint name="LFJ1_z" type="revolute">
856
+ <parent link="link_lf_md_y"/>
857
+ <child link="link_lf_md_z"/>
858
+ <origin xyz="0.0 0.0 0.0"/>
859
+ <axis xyz="0 0 1"/>
860
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
861
+
862
+ </joint>
863
+
864
+ <link name="lfdistal">
865
+ <inertial>
866
+ <!-- <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/> -->
867
+ <origin rpy="0 0 0" xyz="0 0 0"/>
868
+ <mass value="0.00150"/>
869
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
870
+ </inertial>
871
+ </link>
872
+ <link name="link_lf_dd_y">
873
+ <inertial>
874
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
875
+ <mass value="0.00000"/>
876
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
877
+ </inertial>
878
+ </link>
879
+ <link name="link_lf_dd_z">
880
+ <inertial>
881
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
882
+ <mass value="0.00000"/>
883
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
884
+ </inertial>
885
+
886
+ <visual>
887
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
888
+ <geometry>
889
+ <mesh filename="meshes/lfdist_mean.stl" scale="3 3 3"/>
890
+ </geometry>
891
+ </visual>
892
+ </link>
893
+ <!-- LF0 joint -->
894
+ <joint name="LFJ0" type="revolute">
895
+ <parent link="link_lf_md_z"/>
896
+ <child link="lfdistal"/>
897
+ <origin xyz="-0.047600701451301575 -0.0020734649151563644 -0.030995700508356094"/>
898
+ <axis xyz="1 0 0"/>
899
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
900
+
901
+ </joint>
902
+ <joint name="LFJ0_y" type="revolute">
903
+ <parent link="lfdistal"/>
904
+ <child link="link_lf_dd_y"/>
905
+ <origin xyz="0.0 0.0 0.0"/>
906
+ <axis xyz="0 1 0"/>
907
+ <limit effort="1000" lower="-0.25000" upper="0.25000" velocity="0.5"/>
908
+
909
+ </joint>
910
+ <joint name="LFJ0_z" type="revolute">
911
+ <parent link="link_lf_dd_y"/>
912
+ <child link="link_lf_dd_z"/>
913
+ <origin xyz="0.0 0.0 0.0"/>
914
+ <axis xyz="0 0 1"/>
915
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
916
+
917
+ </joint>
918
+ <link name="link_lftip">
919
+ <inertial>
920
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
921
+ <mass value="0.00000"/>
922
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
923
+ </inertial>
924
+ </link>
925
+ <!-- Fix Finger joint -->
926
+ <joint name="LFTip" type="fixed">
927
+ <parent link="link_lf_dd_z"/>
928
+ <child link="link_lftip"/>
929
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
930
+ </joint>
931
+
932
+
933
+ <!-- TH -->
934
+ <link name="thfixed">
935
+ <inertial>
936
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
937
+ <mass value="0.0"/>
938
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
939
+ </inertial>
940
+ </link>
941
+ <!-- Fix Finger joint -->
942
+ <joint name="Palm_THJ2" type="fixed">
943
+ <parent link="link_palm_rz"/>
944
+ <!-- <parent link="palm"/> -->
945
+ <child link="thfixed"/>
946
+ <origin xyz="0.0 0.0 0.0"/>
947
+ </joint>
948
+
949
+
950
+ <link name="thproximal">
951
+ <inertial>
952
+ <!-- <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/> -->
953
+ <origin rpy="0 0 0" xyz="0 0 0"/>
954
+ <mass value="0.01392"/>
955
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
956
+ </inertial>
957
+ </link>
958
+ <link name="link_th_pm_y">
959
+ <inertial>
960
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
961
+ <mass value="0.00000"/>
962
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
963
+ </inertial>
964
+ </link>
965
+ <link name="link_th_pm_z">
966
+ <inertial>
967
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
968
+ <mass value="0.00000"/>
969
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
970
+ </inertial>
971
+
972
+ <visual>
973
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
974
+ <geometry>
975
+ <mesh filename="meshes/thprox_mean.stl" scale="3 3 3"/>
976
+ </geometry>
977
+ </visual>
978
+ </link>
979
+ <!-- TH2 proximal joint -->
980
+ <joint name="THJ2" type="revolute">
981
+ <parent link="thfixed"/>
982
+ <child link="thproximal"/>
983
+ <origin xyz="-0.07226909697055817 -0.04656689986586571 0.07743839919567108"/>
984
+ <axis xyz="1 0 0"/>
985
+ <limit effort="1000" lower="0" upper="1.57" velocity="0.5"/>
986
+ </joint>
987
+ <joint name="THJ2_y" type="revolute">
988
+ <parent link="thproximal"/>
989
+ <child link="link_th_pm_y"/>
990
+ <origin xyz="0.0 0.0 0.0"/>
991
+ <axis xyz="0 1 0"/>
992
+ <limit effort="1000" lower="-0.8" upper="0.8" velocity="0.5"/>
993
+ </joint>
994
+ <joint name="THJ2_z" type="revolute">
995
+ <parent link="link_th_pm_y"/>
996
+ <child link="link_th_pm_z"/>
997
+ <origin xyz="0.0 0.0 0.0"/>
998
+ <axis xyz="0 0 1"/>
999
+ <limit effort="1000" lower="-0.25" upper="0.25" velocity="0.5"/>
1000
+ </joint>
1001
+
1002
+ <link name="thmiddle">
1003
+ <inertial>
1004
+ <!-- <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/> -->
1005
+ <origin rpy="0 0 0" xyz="0 0 0"/>
1006
+ <mass value="0.00802"/>
1007
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1008
+ </inertial>
1009
+ </link>
1010
+ <link name="link_th_md_y">
1011
+ <inertial>
1012
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1013
+ <mass value="0.00000"/>
1014
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1015
+ </inertial>
1016
+ </link>
1017
+ <link name="link_th_md_z">
1018
+ <inertial>
1019
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1020
+ <mass value="0.00000"/>
1021
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1022
+ </inertial>
1023
+
1024
+ <visual>
1025
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1026
+ <geometry>
1027
+ <mesh filename="meshes/thmiddle_mean.stl" scale="3 3 3"/>
1028
+ </geometry>
1029
+ </visual>
1030
+ </link>
1031
+ <!-- TH1 joint -->
1032
+ <joint name="THJ1" type="revolute">
1033
+ <parent link="link_th_pm_z"/>
1034
+ <child link="thmiddle"/>
1035
+ <origin xyz="-0.05889960005879402 0.0026738580781966448 0.07109849900007248"/>
1036
+ <axis xyz="1 0 0"/>
1037
+ <limit effort="1000" lower="-1" upper="1" velocity="0.5"/>
1038
+ </joint>
1039
+ <joint name="THJ1_y" type="revolute">
1040
+ <parent link="thmiddle"/>
1041
+ <child link="link_th_md_y"/>
1042
+ <origin xyz="0.0 0.0 0.0"/>
1043
+ <axis xyz="0 1 0"/>
1044
+ <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/>
1045
+ </joint>
1046
+ <joint name="THJ1_z" type="revolute">
1047
+ <parent link="link_th_md_y"/>
1048
+ <child link="link_th_md_z"/>
1049
+ <origin xyz="0.0 0.0 0.0"/>
1050
+ <axis xyz="0 0 1"/>
1051
+ <limit effort="1000" lower="-0.5" upper="0.5" velocity="0.5"/>
1052
+ </joint>
1053
+
1054
+ <link name="thdistal">
1055
+ <inertial>
1056
+ <!-- <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/> -->
1057
+ <origin rpy="0 0 0" xyz="0 0 0"/>
1058
+ <mass value="0.00726"/>
1059
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1060
+ </inertial>
1061
+ </link>
1062
+ <link name="link_th_dd_y">
1063
+ <inertial>
1064
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1065
+ <mass value="0.00000"/>
1066
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1067
+ </inertial>
1068
+ </link>
1069
+ <link name="link_th_dd_z">
1070
+ <inertial>
1071
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1072
+ <mass value="0.00000"/>
1073
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1074
+ </inertial>
1075
+
1076
+ <visual>
1077
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1078
+ <geometry>
1079
+ <mesh filename="meshes/thdist_mean.stl" scale="3 3 3"/>
1080
+ </geometry>
1081
+ </visual>
1082
+ </link>
1083
+ <!-- TH0 joint -->
1084
+ <joint name="THJ0" type="revolute">
1085
+ <parent link="link_th_md_z"/>
1086
+ <child link="thdistal"/>
1087
+ <origin xyz="-0.06665310263633728 -0.01629890874028206 0.04357229918241501"/>
1088
+ <axis xyz="1 0 0"/>
1089
+ <limit effort="1000" lower="-0.000" upper="1.57" velocity="0.5"/>
1090
+
1091
+ </joint>
1092
+ <joint name="THJ0_y" type="revolute">
1093
+ <parent link="thdistal"/>
1094
+ <child link="link_th_dd_y"/>
1095
+ <origin xyz="0.0 0.0 0.0"/>
1096
+ <axis xyz="0 1 0"/>
1097
+ <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/>
1098
+
1099
+ </joint>
1100
+ <joint name="THJ0_z" type="revolute">
1101
+ <parent link="link_th_dd_y"/>
1102
+ <child link="link_th_dd_z"/>
1103
+ <origin xyz="0.0 0.0 0.0"/>
1104
+ <axis xyz="0 0 1"/>
1105
+ <limit effort="1000" lower="-1.0000" upper="1.0000" velocity="0.5"/>
1106
+
1107
+ </joint>
1108
+ <link name="link_thtip">
1109
+ <inertial>
1110
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1111
+ <mass value="0.00000"/>
1112
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1113
+ </inertial>
1114
+ </link>
1115
+ <!-- Fix Finger joint -->
1116
+ <joint name="THTip" type="fixed">
1117
+ <parent link="link_th_dd_z"/>
1118
+ <child link="link_thtip"/>
1119
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1120
+ </joint>
1121
+
1122
+
1123
+ </robot>
rsc/mano/mano_mean_wcollision_scaled.urdf ADDED
@@ -0,0 +1,1362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="mano">
3
+
4
+
5
+ <material name="hand_color">
6
+ <color rgba="0.91796875 0.765 0.5234 1"/>
7
+ </material>
8
+ <!-- <link name="world"> </link> -->
9
+
10
+ <!-- <joint name="world_to_base" type="fixed">
11
+ <axis xyz="0 0 0"/>
12
+ <origin xyz="0.0 0.0 0.0"/>
13
+ <parent link="world"/>
14
+ <child link="sliderBar"/>
15
+ </joint> -->
16
+
17
+ <link name="sliderBar">
18
+ <inertial>
19
+ <mass value="0"/>
20
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
21
+ </inertial>
22
+ </link>
23
+
24
+ <!--
25
+ Palm
26
+ -->
27
+ <!-- Palm -->
28
+ <link name="palm">
29
+ <inertial>
30
+ <!-- <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/> -->
31
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
32
+ <mass value="0.25042"/>
33
+ <inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/>
34
+ </inertial>
35
+ </link>
36
+
37
+ <link name="link_palm_y">
38
+ <inertial>
39
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
40
+ <mass value="0.00000"/>
41
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
42
+ </inertial>
43
+ </link>
44
+ <link name="link_palm_z">
45
+ <inertial>
46
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
47
+ <mass value="0.00000"/>
48
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
49
+ </inertial>
50
+ </link>
51
+ <link name="link_palm_rx">
52
+ <inertial>
53
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
54
+ <mass value="0.00000"/>
55
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
56
+ </inertial>
57
+ </link>
58
+ <link name="link_palm_ry">
59
+ <inertial>
60
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
61
+ <mass value="0.00000"/>
62
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
63
+ </inertial>
64
+ </link>
65
+ <link name="link_palm_rz">
66
+ <inertial>
67
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
68
+ <mass value="0.00000"/>
69
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
70
+ </inertial>
71
+ <visual>
72
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
73
+ <geometry>
74
+ <mesh filename="meshes/palm_mean.stl" scale="3 3 3"/>
75
+ </geometry>
76
+ <material name="hand_color"/>
77
+ </visual>
78
+ <collision>
79
+ <!-- <origin rpy="0 0 0.2" xyz="-0.03 0 0"/>
80
+ <geometry>
81
+ <box size="0.08780 0.027 0.07"/>
82
+ </geometry> -->
83
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
84
+ <geometry>
85
+ <mesh filename="meshes/palm_mean.stl" scale="3 3 3"/>
86
+ </geometry>
87
+ <material name="">
88
+ <contact name="finger"/>
89
+ </material>
90
+ </collision>
91
+ <!-- <collision>
92
+ <origin rpy="-2.61505 0.70030 -1.87000" xyz="-0.01187 -0.00708 0.01218"/>
93
+ <geometry>
94
+ <capsule length="0.03684" radius="0.015"/>
95
+ </geometry>
96
+ <material name="">
97
+ <contact name="finger"/>
98
+ </material>
99
+ </collision> -->
100
+ </link>
101
+ <joint name="WRJ0x" type="prismatic">
102
+ <parent link="sliderBar"/>
103
+ <child link="palm"/>
104
+ <origin xyz="0.0 0.0 0.0"/>
105
+ <axis xyz="1 0 0"/>
106
+ <limit effort="100.0" lower="-2" upper="2" />
107
+ <dynamics damping="10.0" friction="0.0001"/>
108
+ </joint>
109
+ <joint name="WRJ0y" type="prismatic">
110
+ <parent link="palm"/>
111
+ <child link="link_palm_y"/>
112
+ <origin xyz="0.0 0.0 0.0"/>
113
+ <axis xyz="0 1 0"/>
114
+ <limit effort="100.0" lower="-2" upper="2" />
115
+ <dynamics damping="10.0" friction="0.0001"/>
116
+ </joint>
117
+ <joint name="WRJ0z" type="prismatic">
118
+ <parent link="link_palm_y"/>
119
+ <child link="link_palm_z"/>
120
+ <origin xyz="0.0 0.0 0.0"/>
121
+ <axis xyz="0 0 1"/>
122
+ <limit effort="100.0" lower="-2" upper="2"/>
123
+ <dynamics damping="10.0" friction="0.0001"/>
124
+ </joint>
125
+ <joint name="WRJ0rx" type="revolute">
126
+ <parent link="link_palm_z"/>
127
+ <child link="link_palm_rx"/>
128
+ <origin xyz="0.0 0.0 0.0"/>
129
+ <axis xyz="1 0 0"/>
130
+ <limit effort="1000" lower="-3.14" upper="3.14" />
131
+
132
+ <dynamics damping="1.0" friction="0.0001"/>
133
+ </joint>
134
+ <joint name="WRJ0ry" type="revolute">
135
+ <parent link="link_palm_rx"/>
136
+ <child link="link_palm_ry"/>
137
+ <origin xyz="0.0 0.0 0.0"/>
138
+ <axis xyz="0 1 0"/>
139
+ <limit effort="1000" lower="-3.14" upper="3.14" />
140
+
141
+ <dynamics damping="1.0" friction="0.0001"/>
142
+ </joint>
143
+ <joint name="WRJ0rz" type="revolute">
144
+ <parent link="link_palm_ry"/>
145
+ <child link="link_palm_rz"/>
146
+ <origin xyz="0.0 0.0 0.0"/>
147
+ <axis xyz="0 0 1"/>
148
+ <limit effort="1000" lower="-3.14" upper="3.14" />
149
+ <dynamics damping="1.0" friction="0.0001"/>
150
+ </joint>
151
+
152
+
153
+ <!-- FF -->
154
+ <link name="fffixed">
155
+ <inertial>
156
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
157
+ <mass value="0.0"/>
158
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
159
+ </inertial>
160
+ </link>
161
+ <!-- Fix Finger joint -->
162
+ <joint name="Palm_FFJ2" type="fixed">
163
+ <parent link="link_palm_rz"/>
164
+ <child link="fffixed"/>
165
+ <origin xyz="0.0 0.0 0.0"/>
166
+ </joint>
167
+
168
+
169
+ <link name="ffproximal">
170
+ <inertial>
171
+ <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
172
+ <mass value="0.00845"/>
173
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
174
+ </inertial>
175
+ </link>
176
+ <link name="link_ff_pm_y">
177
+ <inertial>
178
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
179
+ <mass value="0.00000"/>
180
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
181
+ </inertial>
182
+ </link>
183
+ <link name="link_ff_pm_z">
184
+ <inertial>
185
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
186
+ <mass value="0.00000"/>
187
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
188
+ </inertial>
189
+ <collision>
190
+ <!-- <origin rpy="2.0759187 1.43150624 1.94972864" xyz="-0.01633945 0.00200468 0.00110853"/>
191
+ <geometry>
192
+ <capsule length="0.0329984988704395" radius="0.009"/>
193
+ </geometry> -->
194
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
195
+ <geometry>
196
+ <mesh filename="meshes/ffprox_mean.stl" scale="3 3 3"/>
197
+ </geometry>
198
+ <material name="">
199
+ <contact name="finger"/>
200
+ </material>
201
+ </collision>
202
+ <visual>
203
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
204
+ <geometry>
205
+ <mesh filename="meshes/ffprox_mean.stl" scale="3 3 3"/>
206
+ </geometry>
207
+ <material name="hand_color"/>
208
+ </visual>
209
+ </link>
210
+ <!-- FF2 proximal joint -->
211
+ <joint name="FFJ2" type="revolute">
212
+ <parent link="fffixed"/>
213
+ <child link="ffproximal"/>
214
+ <origin xyz="-0.0880972 -0.00520036 0.020686"/>
215
+ <axis xyz="1 0 0"/>
216
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
217
+
218
+ <dynamics damping="1.0" friction="0.0001"/>
219
+ </joint>
220
+ <joint name="FFJ2_y" type="revolute">
221
+ <parent link="ffproximal"/>
222
+ <child link="link_ff_pm_y"/>
223
+ <origin xyz="0 0 0"/>
224
+ <axis xyz="0 1 0"/>
225
+ <limit effort="1000" lower="-0.8" upper="0.8" />
226
+
227
+ <dynamics damping="1.0" friction="0.0001"/>
228
+ </joint>
229
+ <joint name="FFJ2_z" type="revolute">
230
+ <parent link="link_ff_pm_y"/>
231
+ <child link="link_ff_pm_z"/>
232
+ <origin xyz="0 0 0"/>
233
+ <axis xyz="0 0 1"/>
234
+ <limit effort="1000" lower="-0.0" upper="1.57" />
235
+
236
+ <dynamics damping="1.0" friction="0.0001"/>
237
+ </joint>
238
+
239
+ <link name="ffmiddle_fixed">
240
+ <inertial>
241
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
242
+ <mass value="0.0"/>
243
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
244
+ </inertial>
245
+ </link>
246
+ <link name="ffmiddle">
247
+ <inertial>
248
+ <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
249
+ <mass value="0.00413"/>
250
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
251
+ </inertial>
252
+ </link>
253
+ <link name="link_ff_md_y">
254
+ <inertial>
255
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
256
+ <mass value="0.00000"/>
257
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
258
+ </inertial>
259
+ </link>
260
+ <link name="link_ff_md_z">
261
+ <inertial>
262
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
263
+ <mass value="0.00000"/>
264
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
265
+ </inertial>
266
+ <collision>
267
+ <!-- <origin rpy="-1.48313839 1.51203433 -1.42475203" xyz="-1.10779554e-02 -6.49210764e-04 -5.70546836e-05"/>
268
+ <geometry>
269
+ <capsule length="0.02219421770877059" radius="0.0075"/>
270
+ </geometry> -->
271
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
272
+ <geometry>
273
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="3 3 3"/>
274
+ </geometry>
275
+ <material name="">
276
+ <contact name="finger"/>
277
+ </material>
278
+ </collision>
279
+ <visual>
280
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
281
+ <geometry>
282
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="3 3 3"/>
283
+ </geometry>
284
+ <material name="hand_color"/>
285
+ </visual>
286
+ </link>
287
+ <!-- FF1 joint -->
288
+ <joint name="FFJ1_f" type="fixed">
289
+ <parent link="link_ff_pm_z"/>
290
+ <child link="ffmiddle_fixed"/>
291
+ <origin xyz="-0.0326789 0.00400935 0.00221706"/>
292
+ <axis xyz="1 0 0"/>
293
+ </joint>
294
+ <joint name="FFJ1" type="revolute">
295
+ <parent link="ffmiddle_fixed"/>
296
+ <child link="ffmiddle"/>
297
+ <origin xyz="0.0 0.0 0.0"/>
298
+ <axis xyz="1 0 0"/>
299
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
300
+
301
+ <dynamics damping="1.0" friction="0.0001"/>
302
+ </joint>
303
+ <joint name="FFJ1_y" type="revolute">
304
+ <parent link="ffmiddle"/>
305
+ <child link="link_ff_md_y"/>
306
+ <origin xyz="0.0 0.0 0.0"/>
307
+ <axis xyz="0 1 0"/>
308
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
309
+
310
+ <dynamics damping="1.0" friction="0.0001"/>
311
+ </joint>
312
+ <joint name="FFJ1_z" type="revolute">
313
+ <parent link="link_ff_md_y"/>
314
+ <child link="link_ff_md_z"/>
315
+ <origin xyz="0.0 0.0 0.0"/>
316
+ <axis xyz="0 0 1"/>
317
+ <limit effort="1000" lower="-0.5000" upper="1.57" />
318
+
319
+ <dynamics damping="1.0" friction="0.0001"/>
320
+ </joint>
321
+
322
+ <link name="ffdistal">
323
+ <inertial>
324
+ <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
325
+ <mass value="0.00293"/>
326
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
327
+ </inertial>
328
+ </link>
329
+ <link name="link_ff_dd_y">
330
+ <inertial>
331
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
332
+ <mass value="0.00000"/>
333
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
334
+ </inertial>
335
+ </link>
336
+ <link name="link_ff_dd_z">
337
+ <inertial>
338
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
339
+ <mass value="0.00000"/>
340
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
341
+ </inertial>
342
+ <collision>
343
+ <!-- <origin rpy="2.96610898 1.39582282 2.93259132 " xyz="-0.01163138 0.00035898 0.00202463"/>
344
+ <geometry>
345
+ <capsule length="0.015" radius="0.0075"/>
346
+ </geometry> -->
347
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
348
+ <geometry>
349
+ <mesh filename="meshes/ffdist_mean.stl" scale="3 3 3"/>
350
+ </geometry>
351
+ <material name="">
352
+ <contact name="finger"/>
353
+ </material>
354
+ </collision>
355
+ <visual>
356
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
357
+ <geometry>
358
+ <mesh filename="meshes/ffdist_mean.stl" scale="3 3 3"/>
359
+ </geometry>
360
+ <material name="hand_color"/>
361
+ </visual>
362
+ </link>
363
+ <!-- FF1 joint -->
364
+ <joint name="FFJ0" type="revolute">
365
+ <parent link="link_ff_md_z"/>
366
+ <child link="ffdistal"/>
367
+ <origin xyz="-0.0221559 -0.00129842 -0.000114109"/>
368
+ <axis xyz="1 0 0"/>
369
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
370
+
371
+ <dynamics damping="1.0" friction="0.0001"/>
372
+ </joint>
373
+ <joint name="FFJ0_y" type="revolute">
374
+ <parent link="ffdistal"/>
375
+ <child link="link_ff_dd_y"/>
376
+ <origin xyz="0.0 0.0 0.0"/>
377
+ <axis xyz="0 1 0"/>
378
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
379
+
380
+ <dynamics damping="1.0" friction="0.0001"/>
381
+ </joint>
382
+ <joint name="FFJ0_z" type="revolute">
383
+ <parent link="link_ff_dd_y"/>
384
+ <child link="link_ff_dd_z"/>
385
+ <origin xyz="0.0 0.0 0.0"/>
386
+ <axis xyz="0 0 1"/>
387
+ <limit effort="1000" lower="-0.000" upper="1.57" />
388
+
389
+ <dynamics damping="1.0" friction="0.0001"/>
390
+ </joint>
391
+
392
+ <link name="link_fftip">
393
+ <inertial>
394
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
395
+ <mass value="0.00000"/>
396
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
397
+ </inertial>
398
+ </link>
399
+ <!-- Fix Finger joint -->
400
+ <joint name="FFTip" type="fixed">
401
+ <parent link="link_ff_dd_z"/>
402
+ <child link="link_fftip"/>
403
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
404
+ </joint>
405
+
406
+ <!-- MF -->
407
+ <link name="mffixed">
408
+ <inertial>
409
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
410
+ <mass value="0.0"/>
411
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
412
+ </inertial>
413
+ </link>
414
+ <!-- Fix Finger joint -->
415
+ <joint name="Palm_MFJ2" type="fixed">
416
+ <parent link="link_palm_rz"/>
417
+ <child link="mffixed"/>
418
+ <origin xyz="0.0 0.0 0.0"/>
419
+ </joint>
420
+
421
+
422
+ <link name="mfproximal">
423
+ <inertial>
424
+ <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
425
+ <mass value="0.00996"/>
426
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
427
+ </inertial>
428
+ </link>
429
+ <link name="link_mf_pm_y">
430
+ <inertial>
431
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
432
+ <mass value="0.00000"/>
433
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
434
+ </inertial>
435
+ </link>
436
+ <link name="link_mf_pm_z">
437
+ <inertial>
438
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
439
+ <mass value="0.00000"/>
440
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
441
+ </inertial>
442
+ <collision>
443
+ <!-- <origin rpy="0.32118629 1.38392244 0.26686409" xyz="-0.01559134 0.00093066 -0.00279725"/>
444
+ <geometry>
445
+ <capsule length="0.031735191602453826" radius="0.009"/>
446
+ </geometry> -->
447
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
448
+ <geometry>
449
+ <mesh filename="meshes/mfprox_mean.stl" scale="3 3 3"/>
450
+ </geometry>
451
+ <material name="">
452
+ <contact name="finger"/>
453
+ </material>
454
+ </collision>
455
+ <visual>
456
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
457
+ <geometry>
458
+ <mesh filename="meshes/mfprox_mean.stl" scale="3 3 3"/>
459
+ </geometry>
460
+ <material name="hand_color"/>
461
+ </visual>
462
+
463
+ </link>
464
+ <!-- MF2 proximal joint -->
465
+ <joint name="MFJ2" type="revolute">
466
+ <parent link="mffixed"/>
467
+ <child link="mfproximal"/>
468
+ <origin xyz="-0.0946604 -0.00147896 -0.00335754"/>
469
+ <axis xyz="1 0 0"/>
470
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
471
+
472
+ <dynamics damping="1.0" friction="0.0001"/>
473
+ </joint>
474
+ <joint name="MFJ2_y" type="revolute">
475
+ <parent link="mfproximal"/>
476
+ <child link="link_mf_pm_y"/>
477
+ <origin xyz="0.0 0.0 0.0"/>
478
+ <axis xyz="0 1 0"/>
479
+ <limit effort="1000" lower="-0.8" upper="0.8" />
480
+
481
+ <dynamics damping="1.0" friction="0.0001"/>
482
+ </joint>
483
+ <joint name="MFJ2_z" type="revolute">
484
+ <parent link="link_mf_pm_y"/>
485
+ <child link="link_mf_pm_z"/>
486
+ <origin xyz="0.0 0.0 0.0"/>
487
+ <axis xyz="0 0 1"/>
488
+ <limit effort="1000" lower="-0.0" upper="1.57" />
489
+
490
+ <dynamics damping="1.0" friction="0.0001"/>
491
+ </joint>
492
+
493
+ <link name="mfmiddle">
494
+ <inertial>
495
+ <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
496
+ <mass value="0.00400"/>
497
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
498
+ </inertial>
499
+ </link>
500
+ <link name="link_mf_md_y">
501
+ <inertial>
502
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
503
+ <mass value="0.00000"/>
504
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
505
+ </inertial>
506
+ </link>
507
+ <link name="link_mf_md_z">
508
+ <inertial>
509
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
510
+ <mass value="0.00000"/>
511
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
512
+ </inertial>
513
+ <collision>
514
+ <!-- <origin rpy="-0.30736925 1.39204219 -0.25742004" xyz="-0.01145232 -0.00062605 -0.00197226"/>
515
+ <geometry>
516
+ <capsule length="0.023275522107771795" radius="0.0075"/>
517
+ </geometry> -->
518
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
519
+ <geometry>
520
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="3 3 3"/>
521
+ </geometry>
522
+ <material name="">
523
+ <contact name="finger"/>
524
+ </material>
525
+ </collision>
526
+ <visual>
527
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
528
+ <geometry>
529
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="3 3 3"/>
530
+ </geometry>
531
+ <material name="hand_color"/>
532
+ </visual>
533
+ </link>
534
+ <!-- MF1 joint -->
535
+ <joint name="MFJ1" type="revolute">
536
+ <parent link="link_mf_pm_z"/>
537
+ <child link="mfmiddle"/>
538
+ <origin xyz="-0.0311827 0.00186133 -0.00559451"/>
539
+ <axis xyz="1 0 0"/>
540
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
541
+
542
+ <dynamics damping="1.0" friction="0.0001"/>
543
+ </joint>
544
+ <joint name="MFJ1_y" type="revolute">
545
+ <parent link="mfmiddle"/>
546
+ <child link="link_mf_md_y"/>
547
+ <origin xyz="0.0 0.0 0.0"/>
548
+ <axis xyz="0 1 0"/>
549
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
550
+
551
+ <dynamics damping="1.0" friction="0.0001"/>
552
+ </joint>
553
+ <joint name="MFJ1_z" type="revolute">
554
+ <parent link="link_mf_md_y"/>
555
+ <child link="link_mf_md_z"/>
556
+ <origin xyz="0.0 0.0 0.0"/>
557
+ <axis xyz="0 0 1"/>
558
+ <limit effort="1000" lower="-0.000" upper="1.57" />
559
+
560
+ <dynamics damping="1.0" friction="0.0001"/>
561
+ </joint>
562
+
563
+ <link name="mfdistal">
564
+ <inertial>
565
+ <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
566
+ <mass value="0.00289"/>
567
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
568
+ </inertial>
569
+ </link>
570
+ <link name="link_mf_dd_y">
571
+ <inertial>
572
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
573
+ <mass value="0.00000"/>
574
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
575
+ </inertial>
576
+ </link>
577
+ <link name="link_mf_dd_z">
578
+ <inertial>
579
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
580
+ <mass value="0.00000"/>
581
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
582
+ </inertial>
583
+ <collision>
584
+ <!-- <origin rpy="-0.21855015 1.36348088 -0.17760409" xyz="-0.01551503 -0.00070755 -0.00318577"/>
585
+ <geometry>
586
+ <capsule length="0.01" radius="0.0075"/>
587
+ </geometry> -->
588
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
589
+ <geometry>
590
+ <mesh filename="meshes/mfdist_mean.stl" scale="3 3 3"/>
591
+ </geometry>
592
+ <material name="">
593
+ <contact name="finger"/>
594
+ </material>
595
+ </collision>
596
+ <visual>
597
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
598
+ <geometry>
599
+ <mesh filename="meshes/mfdist_mean.stl" scale="3 3 3"/>
600
+ </geometry>
601
+ <material name="hand_color"/>
602
+ </visual>
603
+ </link>
604
+ <!-- MF0 joint -->
605
+ <joint name="MFJ0" type="revolute">
606
+ <parent link="link_mf_md_z"/>
607
+ <child link="mfdistal"/>
608
+ <origin xyz="-0.0229046 -0.0012521 -0.00394452"/>
609
+ <axis xyz="1 0 0"/>
610
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
611
+
612
+ <dynamics damping="1.0" friction="0.0001"/>
613
+ </joint>
614
+ <joint name="MFJ0_y" type="revolute">
615
+ <parent link="mfdistal"/>
616
+ <child link="link_mf_dd_y"/>
617
+ <origin xyz="0.0 0.0 0.0"/>
618
+ <axis xyz="0 1 0"/>
619
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
620
+
621
+ <dynamics damping="1.0" friction="0.0001"/>
622
+ </joint>
623
+ <joint name="MFJ0_z" type="revolute">
624
+ <parent link="link_mf_dd_y"/>
625
+ <child link="link_mf_dd_z"/>
626
+ <origin xyz="0.0 0.0 0.0"/>
627
+ <axis xyz="0 0 1"/>
628
+ <limit effort="1000" lower="-0.000" upper="1.57" />
629
+
630
+ <dynamics damping="1.0" friction="0.0001"/>
631
+ </joint>
632
+
633
+ <link name="link_mftip">
634
+ <inertial>
635
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
636
+ <mass value="0.00000"/>
637
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
638
+ </inertial>
639
+ </link>
640
+ <!-- Fix Finger joint -->
641
+ <joint name="MFTip" type="fixed">
642
+ <parent link="link_mf_dd_z"/>
643
+ <child link="link_mftip"/>
644
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
645
+
646
+ </joint>
647
+
648
+ <!-- RF -->
649
+ <link name="rffixed">
650
+ <inertial>
651
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
652
+ <mass value="0.0"/>
653
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
654
+ </inertial>
655
+ </link>
656
+
657
+ <!-- Fix Finger joint -->
658
+ <joint name="Palm_RFJ2" type="fixed">
659
+ <parent link="link_palm_rz"/>
660
+ <child link="rffixed"/>
661
+ <origin xyz="0.0 0.0 0.0"/>
662
+ </joint>
663
+
664
+
665
+ <link name="rfproximal">
666
+ <inertial>
667
+ <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
668
+ <mass value="0.00725"/>
669
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
670
+ </inertial>
671
+ </link>
672
+ <link name="link_rf_pm_y">
673
+ <inertial>
674
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
675
+ <mass value="0.00000"/>
676
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
677
+ </inertial>
678
+ </link>
679
+ <link name="link_rf_pm_z">
680
+ <inertial>
681
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
682
+ <mass value="0.00000"/>
683
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
684
+ </inertial>
685
+ <collision>
686
+ <!-- <origin rpy=" 0.38516311 1.37888284 0.31878467" xyz="-0.01415714 0.0010335 -0.00254927"/>
687
+ <geometry>
688
+ <capsule length="0.028843811919740826" radius="0.009"/>
689
+ </geometry> -->
690
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
691
+ <geometry>
692
+ <mesh filename="meshes/rfprox_mean.stl" scale="3 3 3"/>
693
+ </geometry>
694
+ <material name="">
695
+ <contact name="finger"/>
696
+ </material>
697
+ </collision>
698
+ <visual>
699
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
700
+ <geometry>
701
+ <mesh filename="meshes/rfprox_mean.stl" scale="3 3 3"/>
702
+ </geometry>
703
+ <material name="hand_color"/>
704
+ </visual>
705
+ </link>
706
+ <!-- RF2 proximal joint -->
707
+ <joint name="RFJ2" type="revolute">
708
+ <parent link="rffixed"/>
709
+ <child link="rfproximal"/>
710
+ <origin xyz="-0.0817355 -0.00395742 -0.0266732"/>
711
+ <axis xyz="1 0 0"/>
712
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
713
+
714
+ <dynamics damping="1.0" friction="0.0001"/>
715
+ </joint>
716
+ <joint name="RFJ2_y" type="revolute">
717
+ <parent link="rfproximal"/>
718
+ <child link="link_rf_pm_y"/>
719
+ <origin xyz="0.0 0.0 0.0"/>
720
+ <axis xyz="0 1 0"/>
721
+ <limit effort="1000" lower="-0.8" upper="0.8" />
722
+
723
+ <dynamics damping="1.0" friction="0.0001"/>
724
+ </joint>
725
+ <joint name="RFJ2_z" type="revolute">
726
+ <parent link="link_rf_pm_y"/>
727
+ <child link="link_rf_pm_z"/>
728
+ <origin xyz="0.0 0.0 0.0"/>
729
+ <axis xyz="0 0 1"/>
730
+ <limit effort="1000" lower="-0.0" upper="1.57" />
731
+
732
+ <dynamics damping="1.0" friction="0.0001"/>
733
+ </joint>
734
+
735
+ <link name="rfmiddle">
736
+ <inertial>
737
+ <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
738
+ <mass value="0.00487"/>
739
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
740
+ </inertial>
741
+ </link>
742
+ <link name="link_rf_md_y">
743
+ <inertial>
744
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
745
+ <mass value="0.00000"/>
746
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
747
+ </inertial>
748
+ </link>
749
+ <link name="link_rf_md_z">
750
+ <inertial>
751
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
752
+ <mass value="0.00000"/>
753
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
754
+ </inertial>
755
+ <collision>
756
+ <!-- <origin rpy="-0.21763357 1.24988512 -0.15729772" xyz="-0.01176025 -0.00084406 -0.00381691"/>
757
+ <geometry>
758
+ <capsule length="0.024785865310763495" radius="0.0075"/>
759
+ </geometry> -->
760
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
761
+ <geometry>
762
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="3 3 3"/>
763
+ </geometry>
764
+ <material name="">
765
+ <contact name="finger"/>
766
+ </material>
767
+ </collision>
768
+ <visual>
769
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
770
+ <geometry>
771
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="3 3 3"/>
772
+ </geometry>
773
+ <material name="hand_color"/>
774
+ </visual>
775
+ </link>
776
+ <!-- RF1 joint -->
777
+ <joint name="RFJ1" type="revolute">
778
+ <parent link="link_rf_pm_z"/>
779
+ <child link="rfmiddle"/>
780
+ <origin xyz="-0.0283143 0.00206701 -0.00509854"/>
781
+ <axis xyz="1 0 0"/>
782
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
783
+
784
+ <dynamics damping="1.0" friction="0.0001"/>
785
+ </joint>
786
+ <joint name="RFJ1_y" type="revolute">
787
+ <parent link="rfmiddle"/>
788
+ <child link="link_rf_md_y"/>
789
+ <origin xyz="0.0 0.0 0.0"/>
790
+ <axis xyz="0 1 0"/>
791
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
792
+
793
+ <dynamics damping="1.0" friction="0.0001"/>
794
+ </joint>
795
+ <joint name="RFJ1_z" type="revolute">
796
+ <parent link="link_rf_md_y"/>
797
+ <child link="link_rf_md_z"/>
798
+ <origin xyz="0.0 0.0 0.0"/>
799
+ <axis xyz="0 0 1"/>
800
+ <limit effort="1000" lower="-0.000" upper="1.57" />
801
+
802
+ <dynamics damping="1.0" friction="0.0001"/>
803
+ </joint>
804
+
805
+ <link name="rfdistal">
806
+ <inertial>
807
+ <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
808
+ <mass value="0.00272"/>
809
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
810
+ </inertial>
811
+ </link>
812
+ <link name="link_rf_dd_y">
813
+ <inertial>
814
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
815
+ <mass value="0.00000"/>
816
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
817
+ </inertial>
818
+ </link>
819
+ <link name="link_rf_dd_z">
820
+ <inertial>
821
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
822
+ <mass value="0.00000"/>
823
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
824
+ </inertial>
825
+ <collision>
826
+ <!-- <origin rpy="0.43325752 1.27456581 0.32302802" xyz="-0.01460212 0.00187106 -0.00404494"/>
827
+ <geometry>
828
+ <capsule length="0.01" radius="0.0075"/>
829
+ </geometry> -->
830
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
831
+ <geometry>
832
+ <mesh filename="meshes/rfdist_mean.stl" scale="3 3 3"/>
833
+ </geometry>
834
+ <material name="">
835
+ <contact name="finger"/>
836
+ </material>
837
+ </collision>
838
+ <visual>
839
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
840
+ <geometry>
841
+ <mesh filename="meshes/rfdist_mean.stl" scale="3 3 3"/>
842
+ </geometry>
843
+ <material name="hand_color"/>
844
+ </visual>
845
+ </link>
846
+ <!-- RF0 joint -->
847
+ <joint name="RFJ0" type="revolute">
848
+ <parent link="link_rf_md_z"/>
849
+ <child link="rfdistal"/>
850
+ <origin xyz="-0.0235205 -0.00168811 -0.00763382"/>
851
+ <axis xyz="1 0 0"/>
852
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
853
+
854
+ <dynamics damping="1.0" friction="0.0001"/>
855
+ </joint>
856
+ <joint name="RFJ0_y" type="revolute">
857
+ <parent link="rfdistal"/>
858
+ <child link="link_rf_dd_y"/>
859
+ <origin xyz="0.0 0.0 0.0"/>
860
+ <axis xyz="0 1 0"/>
861
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
862
+
863
+ <dynamics damping="1.0" friction="0.0001"/>
864
+ </joint>
865
+ <joint name="RFJ0_z" type="revolute">
866
+ <parent link="link_rf_dd_y"/>
867
+ <child link="link_rf_dd_z"/>
868
+ <origin xyz="0.0 0.0 0.0"/>
869
+ <axis xyz="0 0 1"/>
870
+ <limit effort="1000" lower="-0.000" upper="1.57" />
871
+
872
+ <dynamics damping="1.0" friction="0.0001"/>
873
+ </joint>
874
+
875
+ <link name="link_rftip">
876
+ <inertial>
877
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
878
+ <mass value="0.00000"/>
879
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
880
+ </inertial>
881
+ </link>
882
+ <!-- Fix Finger joint -->
883
+ <joint name="RFTip" type="fixed">
884
+ <parent link="link_rf_dd_z"/>
885
+ <child link="link_rftip"/>
886
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
887
+ </joint>
888
+
889
+ <!-- LF -->
890
+ <link name="lffixed">
891
+ <inertial>
892
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
893
+ <mass value="0.0"/>
894
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
895
+ </inertial>
896
+ </link>
897
+ <!-- Fix Finger joint -->
898
+ <joint name="Palm_LFJ2" type="fixed">
899
+ <parent link="link_palm_rz"/>
900
+ <child link="lffixed"/>
901
+ <origin xyz="0.0 0.0 0.0"/>
902
+ </joint>
903
+
904
+
905
+ <link name="lfproximal">
906
+ <inertial>
907
+ <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
908
+ <mass value="0.00416"/>
909
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
910
+ </inertial>
911
+ </link>
912
+ <link name="link_lf_pm_y">
913
+ <inertial>
914
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
915
+ <mass value="0.00000"/>
916
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
917
+ </inertial>
918
+ </link>
919
+ <link name="link_lf_pm_z">
920
+ <inertial>
921
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
922
+ <mass value="0.00000"/>
923
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
924
+ </inertial>
925
+ <collision>
926
+ <!-- <origin rpy="0.00494643 0.93721839 0.00250398" xyz="-8.50720331e-03 3.09124589e-05 -6.24939241e-03"/>
927
+ <geometry>
928
+ <capsule length="0.0211119273571839" radius="0.009"/>
929
+ </geometry> -->
930
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
931
+ <geometry>
932
+ <mesh filename="meshes/lfprox_mean.stl" scale="3 3 3"/>
933
+ </geometry>
934
+ <material name="">
935
+ <contact name="finger"/>
936
+ </material>
937
+ </collision>
938
+ <visual>
939
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
940
+ <geometry>
941
+ <mesh filename="meshes/lfprox_mean.stl" scale="3 3 3"/>
942
+ </geometry>
943
+ <material name="hand_color"/>
944
+ </visual>
945
+ </link>
946
+ <!-- LF2 proximal joint -->
947
+ <joint name="LFJ2" type="revolute">
948
+ <parent link="lffixed"/>
949
+ <child link="lfproximal"/>
950
+ <origin xyz="-0.0687869 -0.00994033 -0.0432093"/>
951
+ <axis xyz="1 0 0"/>
952
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
953
+
954
+ <dynamics damping="1.0" friction="0.0001"/>
955
+ </joint>
956
+ <joint name="LFJ2_y" type="revolute">
957
+ <parent link="lfproximal"/>
958
+ <child link="link_lf_pm_y"/>
959
+ <origin xyz="0.0 0.0 0.0"/>
960
+ <axis xyz="0 1 0"/>
961
+ <limit effort="1000" lower="-0.8" upper="0.8" />
962
+
963
+ <dynamics damping="1.0" friction="0.0001"/>
964
+ </joint>
965
+ <joint name="LFJ2_z" type="revolute">
966
+ <parent link="link_lf_pm_y"/>
967
+ <child link="link_lf_pm_z"/>
968
+ <origin xyz="0.0 0.0 0.0"/>
969
+ <axis xyz="0 0 1"/>
970
+ <limit effort="1000" lower="-0.0" upper="1.57" />
971
+
972
+ <dynamics damping="1.0" friction="0.0001"/>
973
+ </joint>
974
+
975
+ <link name="lfmiddle">
976
+ <inertial>
977
+ <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
978
+ <mass value="0.00269"/>
979
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
980
+ </inertial>
981
+ </link>
982
+ <link name="link_lf_md_y">
983
+ <inertial>
984
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
985
+ <mass value="0.00000"/>
986
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
987
+ </inertial>
988
+ </link>
989
+ <link name="link_lf_md_z">
990
+ <inertial>
991
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
992
+ <mass value="0.00000"/>
993
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
994
+ </inertial>
995
+ <collision>
996
+ <!-- <origin rpy="-0.06679566 0.99258405 -0.0361792" xyz="-0.00793345 -0.00034558 -0.00516596"/>
997
+ <geometry>
998
+ <capsule length="0.018946892889554656" radius="0.0075"/>
999
+ </geometry> -->
1000
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1001
+ <geometry>
1002
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="3 3 3"/>
1003
+ </geometry>
1004
+ <material name="">
1005
+ <contact name="finger"/>
1006
+ </material>
1007
+ </collision>
1008
+ <visual>
1009
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1010
+ <geometry>
1011
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="3 3 3"/>
1012
+ </geometry>
1013
+ <material name="hand_color"/>
1014
+ </visual>
1015
+ </link>
1016
+ <!-- LF1 joint -->
1017
+ <joint name="LFJ1" type="revolute">
1018
+ <parent link="link_lf_pm_z"/>
1019
+ <child link="lfmiddle"/>
1020
+ <origin xyz="-0.0170144 6.18249e-05 -0.0124988"/>
1021
+ <axis xyz="1 0 0"/>
1022
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1023
+
1024
+ <dynamics damping="1.0" friction="0.0001"/>
1025
+ </joint>
1026
+ <joint name="LFJ1_y" type="revolute">
1027
+ <parent link="lfmiddle"/>
1028
+ <child link="link_lf_md_y"/>
1029
+ <origin xyz="0.0 0.0 0.0"/>
1030
+ <axis xyz="0 1 0"/>
1031
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1032
+
1033
+ <dynamics damping="1.0" friction="0.0001"/>
1034
+ </joint>
1035
+ <joint name="LFJ1_z" type="revolute">
1036
+ <parent link="link_lf_md_y"/>
1037
+ <child link="link_lf_md_z"/>
1038
+ <origin xyz="0.0 0.0 0.0"/>
1039
+ <axis xyz="0 0 1"/>
1040
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1041
+
1042
+ <dynamics damping="1.0" friction="0.0001"/>
1043
+ </joint>
1044
+
1045
+ <link name="lfdistal">
1046
+ <inertial>
1047
+ <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
1048
+ <mass value="0.00150"/>
1049
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1050
+ </inertial>
1051
+ </link>
1052
+ <link name="link_lf_dd_y">
1053
+ <inertial>
1054
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1055
+ <mass value="0.00000"/>
1056
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1057
+ </inertial>
1058
+ </link>
1059
+ <link name="link_lf_dd_z">
1060
+ <inertial>
1061
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1062
+ <mass value="0.00000"/>
1063
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1064
+ </inertial>
1065
+ <collision>
1066
+ <!-- <origin rpy="0.22194785 1.02909336 0.12582808" xyz="-0.00977975 0.00129545 -0.00574058"/>
1067
+ <geometry>
1068
+ <capsule length="0.007" radius="0.0065"/>
1069
+ </geometry> -->
1070
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1071
+ <geometry>
1072
+ <mesh filename="meshes/lfdist_mean.stl" scale="3 3 3"/>
1073
+ </geometry>
1074
+ <material name="">
1075
+ <contact name="finger"/>
1076
+ </material>
1077
+ </collision>
1078
+ <visual>
1079
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1080
+ <geometry>
1081
+ <mesh filename="meshes/lfdist_mean.stl" scale="3 3 3"/>
1082
+ </geometry>
1083
+ <material name="hand_color"/>
1084
+ </visual>
1085
+ </link>
1086
+ <!-- LF0 joint -->
1087
+ <joint name="LFJ0" type="revolute">
1088
+ <parent link="link_lf_md_z"/>
1089
+ <child link="lfdistal"/>
1090
+ <origin xyz="-0.0158669 -0.000691155 -0.0103319"/>
1091
+ <axis xyz="1 0 0"/>
1092
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1093
+
1094
+ <dynamics damping="1.0" friction="0.0001"/>
1095
+ </joint>
1096
+ <joint name="LFJ0_y" type="revolute">
1097
+ <parent link="lfdistal"/>
1098
+ <child link="link_lf_dd_y"/>
1099
+ <origin xyz="0.0 0.0 0.0"/>
1100
+ <axis xyz="0 1 0"/>
1101
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1102
+
1103
+ <dynamics damping="1.0" friction="0.0001"/>
1104
+ </joint>
1105
+ <joint name="LFJ0_z" type="revolute">
1106
+ <parent link="link_lf_dd_y"/>
1107
+ <child link="link_lf_dd_z"/>
1108
+ <origin xyz="0.0 0.0 0.0"/>
1109
+ <axis xyz="0 0 1"/>
1110
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1111
+
1112
+ <dynamics damping="1.0" friction="0.0001"/>
1113
+ </joint>
1114
+ <link name="link_lftip">
1115
+ <inertial>
1116
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1117
+ <mass value="0.00000"/>
1118
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1119
+ </inertial>
1120
+ </link>
1121
+ <!-- Fix Finger joint -->
1122
+ <joint name="LFTip" type="fixed">
1123
+ <parent link="link_lf_dd_z"/>
1124
+ <child link="link_lftip"/>
1125
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
1126
+ </joint>
1127
+
1128
+
1129
+ <!-- TH -->
1130
+ <link name="thfixed">
1131
+ <inertial>
1132
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1133
+ <mass value="0.0"/>
1134
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1135
+ </inertial>
1136
+ </link>
1137
+ <!-- Fix Finger joint -->
1138
+ <joint name="Palm_THJ2" type="fixed">
1139
+ <parent link="link_palm_rz"/>
1140
+ <child link="thfixed"/>
1141
+ <origin xyz="0.0 0.0 0.0"/>
1142
+ </joint>
1143
+
1144
+
1145
+ <link name="thproximal">
1146
+ <inertial>
1147
+ <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
1148
+ <mass value="0.01392"/>
1149
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1150
+ </inertial>
1151
+ </link>
1152
+ <link name="link_th_pm_y">
1153
+ <inertial>
1154
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1155
+ <mass value="0.00000"/>
1156
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1157
+ </inertial>
1158
+ </link>
1159
+ <link name="link_th_pm_z">
1160
+ <inertial>
1161
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1162
+ <mass value="0.00000"/>
1163
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1164
+ </inertial>
1165
+ <collision>
1166
+ <!-- <origin rpy="3.10400265 0.69148607 3.03731965" xyz="-0.00981662 0.00044564 0.01184977"/>
1167
+ <geometry>
1168
+ <capsule length="0.030788427516318044" radius="0.01"/>
1169
+ </geometry> -->
1170
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1171
+ <geometry>
1172
+ <mesh filename="meshes/thprox_mean.stl" scale="3 3 3"/>
1173
+ </geometry>
1174
+ </collision>
1175
+ <material name="">
1176
+ <contact name="finger"/>
1177
+ </material>
1178
+ <visual>
1179
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1180
+ <geometry>
1181
+ <mesh filename="meshes/thprox_mean.stl" scale="3 3 3"/>
1182
+ </geometry>
1183
+ <material name="hand_color"/>
1184
+ </visual>
1185
+ </link>
1186
+ <!-- TH2 proximal joint -->
1187
+ <joint name="THJ2" type="revolute">
1188
+ <parent link="thfixed"/>
1189
+ <child link="thproximal"/>
1190
+ <origin xyz="-0.0240897 -0.0155223 0.0258128"/>
1191
+ <axis xyz="1 0 0"/>
1192
+ <limit effort="1000" lower="0" upper="1.57" />
1193
+ <dynamics damping="1.0" friction="0.0001"/>
1194
+ </joint>
1195
+ <joint name="THJ2_y" type="revolute">
1196
+ <parent link="thproximal"/>
1197
+ <child link="link_th_pm_y"/>
1198
+ <origin xyz="0.0 0.0 0.0"/>
1199
+ <axis xyz="0 1 0"/>
1200
+ <limit effort="1000" lower="-0.8" upper="0.8" />
1201
+ <dynamics damping="1.0" friction="0.0001"/>
1202
+ </joint>
1203
+ <joint name="THJ2_z" type="revolute">
1204
+ <parent link="link_th_pm_y"/>
1205
+ <child link="link_th_pm_z"/>
1206
+ <origin xyz="0.0 0.0 0.0"/>
1207
+ <axis xyz="0 0 1"/>
1208
+ <limit effort="1000" lower="-0.25" upper="0.25" />
1209
+ <dynamics damping="1.0" friction="0.0001"/>
1210
+ </joint>
1211
+
1212
+ <link name="thmiddle">
1213
+ <inertial>
1214
+ <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
1215
+ <mass value="0.00802"/>
1216
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1217
+ </inertial>
1218
+ </link>
1219
+ <link name="link_th_md_y">
1220
+ <inertial>
1221
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1222
+ <mass value="0.00000"/>
1223
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1224
+ </inertial>
1225
+ </link>
1226
+ <link name="link_th_md_z">
1227
+ <inertial>
1228
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1229
+ <mass value="0.00000"/>
1230
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1231
+ </inertial>
1232
+ <collision>
1233
+ <!-- <origin rpy=" -2.78364168 0.96144328 -2.47379542" xyz="-0.01110887 -0.00271648 0.00726206"/>
1234
+ <geometry>
1235
+ <capsule length="0.02709418497996566" radius="0.01"/>
1236
+ </geometry> -->
1237
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1238
+ <geometry>
1239
+ <mesh filename="meshes/thmiddle_mean.stl" scale="3 3 3"/>
1240
+ </geometry>
1241
+ <material name="">
1242
+ <contact name="finger"/>
1243
+ </material>
1244
+ </collision>
1245
+ <visual>
1246
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1247
+ <geometry>
1248
+ <mesh filename="meshes/thmiddle_mean.stl" scale="3 3 3"/>
1249
+ </geometry>
1250
+ <material name="hand_color"/>
1251
+ </visual>
1252
+ </link>
1253
+ <!-- TH1 joint -->
1254
+ <joint name="THJ1" type="revolute">
1255
+ <parent link="link_th_pm_z"/>
1256
+ <child link="thmiddle"/>
1257
+ <origin xyz="-0.0196332 0.000891286 0.0236995"/>
1258
+ <axis xyz="1 0 0"/>
1259
+ <limit effort="1000" lower="-1" upper="1" />
1260
+ <dynamics damping="1.0" friction="0.0001"/>
1261
+ </joint>
1262
+ <joint name="THJ1_y" type="revolute">
1263
+ <parent link="thmiddle"/>
1264
+ <child link="link_th_md_y"/>
1265
+ <origin xyz="0.0 0.0 0.0"/>
1266
+ <axis xyz="0 1 0"/>
1267
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1268
+ <dynamics damping="1.0" friction="0.0001"/>
1269
+ </joint>
1270
+ <joint name="THJ1_z" type="revolute">
1271
+ <parent link="link_th_md_y"/>
1272
+ <child link="link_th_md_z"/>
1273
+ <origin xyz="0.0 0.0 0.0"/>
1274
+ <axis xyz="0 0 1"/>
1275
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1276
+ <dynamics damping="1.0" friction="0.0001"/>
1277
+ </joint>
1278
+
1279
+ <link name="thdistal">
1280
+ <inertial>
1281
+ <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
1282
+ <mass value="0.00726"/>
1283
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1284
+ </inertial>
1285
+ </link>
1286
+ <link name="link_th_dd_y">
1287
+ <inertial>
1288
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1289
+ <mass value="0.00000"/>
1290
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1291
+ </inertial>
1292
+ </link>
1293
+ <link name="link_th_dd_z">
1294
+ <inertial>
1295
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1296
+ <mass value="0.00000"/>
1297
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1298
+ </inertial>
1299
+ <collision>
1300
+ <!-- <origin rpy="-2.83317999 0.97259243 -2.56963586" xyz="-0.01577465 -0.00326327 0.01024323"/>
1301
+ <geometry>
1302
+ <capsule length="0.02" radius="0.01"/>
1303
+ </geometry> -->
1304
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1305
+ <geometry>
1306
+ <mesh filename="meshes/thdist_mean.stl" scale="3 3 3"/>
1307
+ </geometry>
1308
+ <material name="">
1309
+ <contact name="finger"/>
1310
+ </material>
1311
+ </collision>
1312
+ <visual>
1313
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1314
+ <geometry>
1315
+ <mesh filename="meshes/thdist_mean.stl" scale="3 3 3"/>
1316
+ </geometry>
1317
+ <material name="hand_color"/>
1318
+ </visual>
1319
+ </link>
1320
+ <!-- TH0 joint -->
1321
+ <joint name="THJ0" type="revolute">
1322
+ <parent link="link_th_md_z"/>
1323
+ <child link="thdistal"/>
1324
+ <origin xyz="-0.0222177 -0.00543297 0.0145241"/>
1325
+ <axis xyz="1 0 0"/>
1326
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1327
+ <dynamics damping="1.0" friction="0.0001"/>
1328
+ </joint>
1329
+ <joint name="THJ0_y" type="revolute">
1330
+ <parent link="thdistal"/>
1331
+ <child link="link_th_dd_y"/>
1332
+ <origin xyz="0.0 0.0 0.0"/>
1333
+ <axis xyz="0 1 0"/>
1334
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1335
+
1336
+ <dynamics damping="1.0" friction="0.0001"/>
1337
+ </joint>
1338
+ <joint name="THJ0_z" type="revolute">
1339
+ <parent link="link_th_dd_y"/>
1340
+ <child link="link_th_dd_z"/>
1341
+ <origin xyz="0.0 0.0 0.0"/>
1342
+ <axis xyz="0 0 1"/>
1343
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1344
+
1345
+ <dynamics damping="1.0" friction="0.0001"/>
1346
+ </joint>
1347
+ <link name="link_thtip">
1348
+ <inertial>
1349
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1350
+ <mass value="0.00000"/>
1351
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1352
+ </inertial>
1353
+ </link>
1354
+ <!-- Fix Finger joint -->
1355
+ <joint name="THTip" type="fixed">
1356
+ <parent link="link_th_dd_z"/>
1357
+ <child link="link_thtip"/>
1358
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1359
+ </joint>
1360
+
1361
+
1362
+ </robot>
rsc/mano/mano_mean_wcollision_scaled_scaled.urdf ADDED
@@ -0,0 +1,1362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="mano">
3
+
4
+
5
+ <material name="hand_color">
6
+ <color rgba="0.91796875 0.765 0.5234 1"/>
7
+ </material>
8
+ <!-- <link name="world"> </link> -->
9
+
10
+ <!-- <joint name="world_to_base" type="fixed">
11
+ <axis xyz="0 0 0"/>
12
+ <origin xyz="0.0 0.0 0.0"/>
13
+ <parent link="world"/>
14
+ <child link="sliderBar"/>
15
+ </joint> -->
16
+
17
+ <link name="sliderBar">
18
+ <inertial>
19
+ <mass value="0"/>
20
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
21
+ </inertial>
22
+ </link>
23
+
24
+ <!--
25
+ Palm
26
+ -->
27
+ <!-- Palm -->
28
+ <link name="palm">
29
+ <inertial>
30
+ <!-- <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/> -->
31
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
32
+ <mass value="0.25042"/>
33
+ <inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/>
34
+ </inertial>
35
+ </link>
36
+
37
+ <link name="link_palm_y">
38
+ <inertial>
39
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
40
+ <mass value="0.00000"/>
41
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
42
+ </inertial>
43
+ </link>
44
+ <link name="link_palm_z">
45
+ <inertial>
46
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
47
+ <mass value="0.00000"/>
48
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
49
+ </inertial>
50
+ </link>
51
+ <link name="link_palm_rx">
52
+ <inertial>
53
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
54
+ <mass value="0.00000"/>
55
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
56
+ </inertial>
57
+ </link>
58
+ <link name="link_palm_ry">
59
+ <inertial>
60
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
61
+ <mass value="0.00000"/>
62
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
63
+ </inertial>
64
+ </link>
65
+ <link name="link_palm_rz">
66
+ <inertial>
67
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
68
+ <mass value="0.00000"/>
69
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
70
+ </inertial>
71
+ <visual>
72
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
73
+ <geometry>
74
+ <mesh filename="meshes/palm_mean.stl" scale="3 3 3"/>
75
+ </geometry>
76
+ <material name="hand_color"/>
77
+ </visual>
78
+ <collision>
79
+ <!-- <origin rpy="0 0 0.2" xyz="-0.03 0 0"/>
80
+ <geometry>
81
+ <box size="0.08780 0.027 0.07"/>
82
+ </geometry> -->
83
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
84
+ <geometry>
85
+ <mesh filename="meshes/palm_mean.stl" scale="3 3 3"/>
86
+ </geometry>
87
+ <material name="">
88
+ <contact name="finger"/>
89
+ </material>
90
+ </collision>
91
+ <!-- <collision>
92
+ <origin rpy="-2.61505 0.70030 -1.87000" xyz="-0.01187 -0.00708 0.01218"/>
93
+ <geometry>
94
+ <capsule length="0.03684" radius="0.015"/>
95
+ </geometry>
96
+ <material name="">
97
+ <contact name="finger"/>
98
+ </material>
99
+ </collision> -->
100
+ </link>
101
+ <joint name="WRJ0x" type="prismatic">
102
+ <parent link="sliderBar"/>
103
+ <child link="palm"/>
104
+ <origin xyz="0.0 0.0 0.0"/>
105
+ <axis xyz="1 0 0"/>
106
+ <limit effort="100.0" lower="-2" upper="2" />
107
+ <dynamics damping="10.0" friction="0.0001"/>
108
+ </joint>
109
+ <joint name="WRJ0y" type="prismatic">
110
+ <parent link="palm"/>
111
+ <child link="link_palm_y"/>
112
+ <origin xyz="0.0 0.0 0.0"/>
113
+ <axis xyz="0 1 0"/>
114
+ <limit effort="100.0" lower="-2" upper="2" />
115
+ <dynamics damping="10.0" friction="0.0001"/>
116
+ </joint>
117
+ <joint name="WRJ0z" type="prismatic">
118
+ <parent link="link_palm_y"/>
119
+ <child link="link_palm_z"/>
120
+ <origin xyz="0.0 0.0 0.0"/>
121
+ <axis xyz="0 0 1"/>
122
+ <limit effort="100.0" lower="-2" upper="2"/>
123
+ <dynamics damping="10.0" friction="0.0001"/>
124
+ </joint>
125
+ <joint name="WRJ0rx" type="revolute">
126
+ <parent link="link_palm_z"/>
127
+ <child link="link_palm_rx"/>
128
+ <origin xyz="0.0 0.0 0.0"/>
129
+ <axis xyz="1 0 0"/>
130
+ <limit effort="1000" lower="-3.14" upper="3.14" />
131
+
132
+ <dynamics damping="1.0" friction="0.0001"/>
133
+ </joint>
134
+ <joint name="WRJ0ry" type="revolute">
135
+ <parent link="link_palm_rx"/>
136
+ <child link="link_palm_ry"/>
137
+ <origin xyz="0.0 0.0 0.0"/>
138
+ <axis xyz="0 1 0"/>
139
+ <limit effort="1000" lower="-3.14" upper="3.14" />
140
+
141
+ <dynamics damping="1.0" friction="0.0001"/>
142
+ </joint>
143
+ <joint name="WRJ0rz" type="revolute">
144
+ <parent link="link_palm_ry"/>
145
+ <child link="link_palm_rz"/>
146
+ <origin xyz="0.0 0.0 0.0"/>
147
+ <axis xyz="0 0 1"/>
148
+ <limit effort="1000" lower="-3.14" upper="3.14" />
149
+ <dynamics damping="1.0" friction="0.0001"/>
150
+ </joint>
151
+
152
+
153
+ <!-- FF -->
154
+ <link name="fffixed">
155
+ <inertial>
156
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
157
+ <mass value="0.0"/>
158
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
159
+ </inertial>
160
+ </link>
161
+ <!-- Fix Finger joint -->
162
+ <joint name="Palm_FFJ2" type="fixed">
163
+ <parent link="link_palm_rz"/>
164
+ <child link="fffixed"/>
165
+ <origin xyz="0.0 0.0 0.0"/>
166
+ </joint>
167
+
168
+
169
+ <link name="ffproximal">
170
+ <inertial>
171
+ <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
172
+ <mass value="0.00845"/>
173
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
174
+ </inertial>
175
+ </link>
176
+ <link name="link_ff_pm_y">
177
+ <inertial>
178
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
179
+ <mass value="0.00000"/>
180
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
181
+ </inertial>
182
+ </link>
183
+ <link name="link_ff_pm_z">
184
+ <inertial>
185
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
186
+ <mass value="0.00000"/>
187
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
188
+ </inertial>
189
+ <collision>
190
+ <!-- <origin rpy="2.0759187 1.43150624 1.94972864" xyz="-0.01633945 0.00200468 0.00110853"/>
191
+ <geometry>
192
+ <capsule length="0.0329984988704395" radius="0.009"/>
193
+ </geometry> -->
194
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
195
+ <geometry>
196
+ <mesh filename="meshes/ffprox_mean.stl" scale="3 3 3"/>
197
+ </geometry>
198
+ <material name="">
199
+ <contact name="finger"/>
200
+ </material>
201
+ </collision>
202
+ <visual>
203
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
204
+ <geometry>
205
+ <mesh filename="meshes/ffprox_mean.stl" scale="3 3 3"/>
206
+ </geometry>
207
+ <material name="hand_color"/>
208
+ </visual>
209
+ </link>
210
+ <!-- FF2 proximal joint -->
211
+ <joint name="FFJ2" type="revolute">
212
+ <parent link="fffixed"/>
213
+ <child link="ffproximal"/>
214
+ <origin xyz="-0.26429158449172974 -0.015601079910993576 0.06205800175666809"/>
215
+ <axis xyz="1 0 0"/>
216
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
217
+
218
+ <dynamics damping="1.0" friction="0.0001"/>
219
+ </joint>
220
+ <joint name="FFJ2_y" type="revolute">
221
+ <parent link="ffproximal"/>
222
+ <child link="link_ff_pm_y"/>
223
+ <origin xyz="0 0 0"/>
224
+ <axis xyz="0 1 0"/>
225
+ <limit effort="1000" lower="-0.8" upper="0.8" />
226
+
227
+ <dynamics damping="1.0" friction="0.0001"/>
228
+ </joint>
229
+ <joint name="FFJ2_z" type="revolute">
230
+ <parent link="link_ff_pm_y"/>
231
+ <child link="link_ff_pm_z"/>
232
+ <origin xyz="0 0 0"/>
233
+ <axis xyz="0 0 1"/>
234
+ <limit effort="1000" lower="-0.0" upper="1.57" />
235
+
236
+ <dynamics damping="1.0" friction="0.0001"/>
237
+ </joint>
238
+
239
+ <link name="ffmiddle_fixed">
240
+ <inertial>
241
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
242
+ <mass value="0.0"/>
243
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
244
+ </inertial>
245
+ </link>
246
+ <link name="ffmiddle">
247
+ <inertial>
248
+ <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
249
+ <mass value="0.00413"/>
250
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
251
+ </inertial>
252
+ </link>
253
+ <link name="link_ff_md_y">
254
+ <inertial>
255
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
256
+ <mass value="0.00000"/>
257
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
258
+ </inertial>
259
+ </link>
260
+ <link name="link_ff_md_z">
261
+ <inertial>
262
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
263
+ <mass value="0.00000"/>
264
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
265
+ </inertial>
266
+ <collision>
267
+ <!-- <origin rpy="-1.48313839 1.51203433 -1.42475203" xyz="-1.10779554e-02 -6.49210764e-04 -5.70546836e-05"/>
268
+ <geometry>
269
+ <capsule length="0.02219421770877059" radius="0.0075"/>
270
+ </geometry> -->
271
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
272
+ <geometry>
273
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="3 3 3"/>
274
+ </geometry>
275
+ <material name="">
276
+ <contact name="finger"/>
277
+ </material>
278
+ </collision>
279
+ <visual>
280
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
281
+ <geometry>
282
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="3 3 3"/>
283
+ </geometry>
284
+ <material name="hand_color"/>
285
+ </visual>
286
+ </link>
287
+ <!-- FF1 joint -->
288
+ <joint name="FFJ1_f" type="fixed">
289
+ <parent link="link_ff_pm_z"/>
290
+ <child link="ffmiddle_fixed"/>
291
+ <origin xyz="-0.09803669154644012 0.012028050608932972 0.006651179865002632"/>
292
+ <axis xyz="1 0 0"/>
293
+ </joint>
294
+ <joint name="FFJ1" type="revolute">
295
+ <parent link="ffmiddle_fixed"/>
296
+ <child link="ffmiddle"/>
297
+ <origin xyz="0.0 0.0 0.0"/>
298
+ <axis xyz="1 0 0"/>
299
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
300
+
301
+ <dynamics damping="1.0" friction="0.0001"/>
302
+ </joint>
303
+ <joint name="FFJ1_y" type="revolute">
304
+ <parent link="ffmiddle"/>
305
+ <child link="link_ff_md_y"/>
306
+ <origin xyz="0.0 0.0 0.0"/>
307
+ <axis xyz="0 1 0"/>
308
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
309
+
310
+ <dynamics damping="1.0" friction="0.0001"/>
311
+ </joint>
312
+ <joint name="FFJ1_z" type="revolute">
313
+ <parent link="link_ff_md_y"/>
314
+ <child link="link_ff_md_z"/>
315
+ <origin xyz="0.0 0.0 0.0"/>
316
+ <axis xyz="0 0 1"/>
317
+ <limit effort="1000" lower="-0.5000" upper="1.57" />
318
+
319
+ <dynamics damping="1.0" friction="0.0001"/>
320
+ </joint>
321
+
322
+ <link name="ffdistal">
323
+ <inertial>
324
+ <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
325
+ <mass value="0.00293"/>
326
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
327
+ </inertial>
328
+ </link>
329
+ <link name="link_ff_dd_y">
330
+ <inertial>
331
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
332
+ <mass value="0.00000"/>
333
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
334
+ </inertial>
335
+ </link>
336
+ <link name="link_ff_dd_z">
337
+ <inertial>
338
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
339
+ <mass value="0.00000"/>
340
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
341
+ </inertial>
342
+ <collision>
343
+ <!-- <origin rpy="2.96610898 1.39582282 2.93259132 " xyz="-0.01163138 0.00035898 0.00202463"/>
344
+ <geometry>
345
+ <capsule length="0.015" radius="0.0075"/>
346
+ </geometry> -->
347
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
348
+ <geometry>
349
+ <mesh filename="meshes/ffdist_mean.stl" scale="3 3 3"/>
350
+ </geometry>
351
+ <material name="">
352
+ <contact name="finger"/>
353
+ </material>
354
+ </collision>
355
+ <visual>
356
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
357
+ <geometry>
358
+ <mesh filename="meshes/ffdist_mean.stl" scale="3 3 3"/>
359
+ </geometry>
360
+ <material name="hand_color"/>
361
+ </visual>
362
+ </link>
363
+ <!-- FF1 joint -->
364
+ <joint name="FFJ0" type="revolute">
365
+ <parent link="link_ff_md_z"/>
366
+ <child link="ffdistal"/>
367
+ <origin xyz="-0.06646770238876343 -0.00389525992795825 -0.0003423269954510033"/>
368
+ <axis xyz="1 0 0"/>
369
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
370
+
371
+ <dynamics damping="1.0" friction="0.0001"/>
372
+ </joint>
373
+ <joint name="FFJ0_y" type="revolute">
374
+ <parent link="ffdistal"/>
375
+ <child link="link_ff_dd_y"/>
376
+ <origin xyz="0.0 0.0 0.0"/>
377
+ <axis xyz="0 1 0"/>
378
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
379
+
380
+ <dynamics damping="1.0" friction="0.0001"/>
381
+ </joint>
382
+ <joint name="FFJ0_z" type="revolute">
383
+ <parent link="link_ff_dd_y"/>
384
+ <child link="link_ff_dd_z"/>
385
+ <origin xyz="0.0 0.0 0.0"/>
386
+ <axis xyz="0 0 1"/>
387
+ <limit effort="1000" lower="-0.000" upper="1.57" />
388
+
389
+ <dynamics damping="1.0" friction="0.0001"/>
390
+ </joint>
391
+
392
+ <link name="link_fftip">
393
+ <inertial>
394
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
395
+ <mass value="0.00000"/>
396
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
397
+ </inertial>
398
+ </link>
399
+ <!-- Fix Finger joint -->
400
+ <joint name="FFTip" type="fixed">
401
+ <parent link="link_ff_dd_z"/>
402
+ <child link="link_fftip"/>
403
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
404
+ </joint>
405
+
406
+ <!-- MF -->
407
+ <link name="mffixed">
408
+ <inertial>
409
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
410
+ <mass value="0.0"/>
411
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
412
+ </inertial>
413
+ </link>
414
+ <!-- Fix Finger joint -->
415
+ <joint name="Palm_MFJ2" type="fixed">
416
+ <parent link="link_palm_rz"/>
417
+ <child link="mffixed"/>
418
+ <origin xyz="0.0 0.0 0.0"/>
419
+ </joint>
420
+
421
+
422
+ <link name="mfproximal">
423
+ <inertial>
424
+ <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
425
+ <mass value="0.00996"/>
426
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
427
+ </inertial>
428
+ </link>
429
+ <link name="link_mf_pm_y">
430
+ <inertial>
431
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
432
+ <mass value="0.00000"/>
433
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
434
+ </inertial>
435
+ </link>
436
+ <link name="link_mf_pm_z">
437
+ <inertial>
438
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
439
+ <mass value="0.00000"/>
440
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
441
+ </inertial>
442
+ <collision>
443
+ <!-- <origin rpy="0.32118629 1.38392244 0.26686409" xyz="-0.01559134 0.00093066 -0.00279725"/>
444
+ <geometry>
445
+ <capsule length="0.031735191602453826" radius="0.009"/>
446
+ </geometry> -->
447
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
448
+ <geometry>
449
+ <mesh filename="meshes/mfprox_mean.stl" scale="3 3 3"/>
450
+ </geometry>
451
+ <material name="">
452
+ <contact name="finger"/>
453
+ </material>
454
+ </collision>
455
+ <visual>
456
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
457
+ <geometry>
458
+ <mesh filename="meshes/mfprox_mean.stl" scale="3 3 3"/>
459
+ </geometry>
460
+ <material name="hand_color"/>
461
+ </visual>
462
+
463
+ </link>
464
+ <!-- MF2 proximal joint -->
465
+ <joint name="MFJ2" type="revolute">
466
+ <parent link="mffixed"/>
467
+ <child link="mfproximal"/>
468
+ <origin xyz="-0.28398120403289795 -0.004436880350112915 -0.010072619654238224"/>
469
+ <axis xyz="1 0 0"/>
470
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
471
+
472
+ <dynamics damping="1.0" friction="0.0001"/>
473
+ </joint>
474
+ <joint name="MFJ2_y" type="revolute">
475
+ <parent link="mfproximal"/>
476
+ <child link="link_mf_pm_y"/>
477
+ <origin xyz="0.0 0.0 0.0"/>
478
+ <axis xyz="0 1 0"/>
479
+ <limit effort="1000" lower="-0.8" upper="0.8" />
480
+
481
+ <dynamics damping="1.0" friction="0.0001"/>
482
+ </joint>
483
+ <joint name="MFJ2_z" type="revolute">
484
+ <parent link="link_mf_pm_y"/>
485
+ <child link="link_mf_pm_z"/>
486
+ <origin xyz="0.0 0.0 0.0"/>
487
+ <axis xyz="0 0 1"/>
488
+ <limit effort="1000" lower="-0.0" upper="1.57" />
489
+
490
+ <dynamics damping="1.0" friction="0.0001"/>
491
+ </joint>
492
+
493
+ <link name="mfmiddle">
494
+ <inertial>
495
+ <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
496
+ <mass value="0.00400"/>
497
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
498
+ </inertial>
499
+ </link>
500
+ <link name="link_mf_md_y">
501
+ <inertial>
502
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
503
+ <mass value="0.00000"/>
504
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
505
+ </inertial>
506
+ </link>
507
+ <link name="link_mf_md_z">
508
+ <inertial>
509
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
510
+ <mass value="0.00000"/>
511
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
512
+ </inertial>
513
+ <collision>
514
+ <!-- <origin rpy="-0.30736925 1.39204219 -0.25742004" xyz="-0.01145232 -0.00062605 -0.00197226"/>
515
+ <geometry>
516
+ <capsule length="0.023275522107771795" radius="0.0075"/>
517
+ </geometry> -->
518
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
519
+ <geometry>
520
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="3 3 3"/>
521
+ </geometry>
522
+ <material name="">
523
+ <contact name="finger"/>
524
+ </material>
525
+ </collision>
526
+ <visual>
527
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
528
+ <geometry>
529
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="3 3 3"/>
530
+ </geometry>
531
+ <material name="hand_color"/>
532
+ </visual>
533
+ </link>
534
+ <!-- MF1 joint -->
535
+ <joint name="MFJ1" type="revolute">
536
+ <parent link="link_mf_pm_z"/>
537
+ <child link="mfmiddle"/>
538
+ <origin xyz="-0.09354810416698456 0.005583989899605513 -0.01678352989256382"/>
539
+ <axis xyz="1 0 0"/>
540
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
541
+
542
+ <dynamics damping="1.0" friction="0.0001"/>
543
+ </joint>
544
+ <joint name="MFJ1_y" type="revolute">
545
+ <parent link="mfmiddle"/>
546
+ <child link="link_mf_md_y"/>
547
+ <origin xyz="0.0 0.0 0.0"/>
548
+ <axis xyz="0 1 0"/>
549
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
550
+
551
+ <dynamics damping="1.0" friction="0.0001"/>
552
+ </joint>
553
+ <joint name="MFJ1_z" type="revolute">
554
+ <parent link="link_mf_md_y"/>
555
+ <child link="link_mf_md_z"/>
556
+ <origin xyz="0.0 0.0 0.0"/>
557
+ <axis xyz="0 0 1"/>
558
+ <limit effort="1000" lower="-0.000" upper="1.57" />
559
+
560
+ <dynamics damping="1.0" friction="0.0001"/>
561
+ </joint>
562
+
563
+ <link name="mfdistal">
564
+ <inertial>
565
+ <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
566
+ <mass value="0.00289"/>
567
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
568
+ </inertial>
569
+ </link>
570
+ <link name="link_mf_dd_y">
571
+ <inertial>
572
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
573
+ <mass value="0.00000"/>
574
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
575
+ </inertial>
576
+ </link>
577
+ <link name="link_mf_dd_z">
578
+ <inertial>
579
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
580
+ <mass value="0.00000"/>
581
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
582
+ </inertial>
583
+ <collision>
584
+ <!-- <origin rpy="-0.21855015 1.36348088 -0.17760409" xyz="-0.01551503 -0.00070755 -0.00318577"/>
585
+ <geometry>
586
+ <capsule length="0.01" radius="0.0075"/>
587
+ </geometry> -->
588
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
589
+ <geometry>
590
+ <mesh filename="meshes/mfdist_mean.stl" scale="3 3 3"/>
591
+ </geometry>
592
+ <material name="">
593
+ <contact name="finger"/>
594
+ </material>
595
+ </collision>
596
+ <visual>
597
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
598
+ <geometry>
599
+ <mesh filename="meshes/mfdist_mean.stl" scale="3 3 3"/>
600
+ </geometry>
601
+ <material name="hand_color"/>
602
+ </visual>
603
+ </link>
604
+ <!-- MF0 joint -->
605
+ <joint name="MFJ0" type="revolute">
606
+ <parent link="link_mf_md_z"/>
607
+ <child link="mfdistal"/>
608
+ <origin xyz="-0.06871379911899567 -0.0037563000805675983 -0.011833559721708298"/>
609
+ <axis xyz="1 0 0"/>
610
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
611
+
612
+ <dynamics damping="1.0" friction="0.0001"/>
613
+ </joint>
614
+ <joint name="MFJ0_y" type="revolute">
615
+ <parent link="mfdistal"/>
616
+ <child link="link_mf_dd_y"/>
617
+ <origin xyz="0.0 0.0 0.0"/>
618
+ <axis xyz="0 1 0"/>
619
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
620
+
621
+ <dynamics damping="1.0" friction="0.0001"/>
622
+ </joint>
623
+ <joint name="MFJ0_z" type="revolute">
624
+ <parent link="link_mf_dd_y"/>
625
+ <child link="link_mf_dd_z"/>
626
+ <origin xyz="0.0 0.0 0.0"/>
627
+ <axis xyz="0 0 1"/>
628
+ <limit effort="1000" lower="-0.000" upper="1.57" />
629
+
630
+ <dynamics damping="1.0" friction="0.0001"/>
631
+ </joint>
632
+
633
+ <link name="link_mftip">
634
+ <inertial>
635
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
636
+ <mass value="0.00000"/>
637
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
638
+ </inertial>
639
+ </link>
640
+ <!-- Fix Finger joint -->
641
+ <joint name="MFTip" type="fixed">
642
+ <parent link="link_mf_dd_z"/>
643
+ <child link="link_mftip"/>
644
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
645
+
646
+ </joint>
647
+
648
+ <!-- RF -->
649
+ <link name="rffixed">
650
+ <inertial>
651
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
652
+ <mass value="0.0"/>
653
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
654
+ </inertial>
655
+ </link>
656
+
657
+ <!-- Fix Finger joint -->
658
+ <joint name="Palm_RFJ2" type="fixed">
659
+ <parent link="link_palm_rz"/>
660
+ <child link="rffixed"/>
661
+ <origin xyz="0.0 0.0 0.0"/>
662
+ </joint>
663
+
664
+
665
+ <link name="rfproximal">
666
+ <inertial>
667
+ <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
668
+ <mass value="0.00725"/>
669
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
670
+ </inertial>
671
+ </link>
672
+ <link name="link_rf_pm_y">
673
+ <inertial>
674
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
675
+ <mass value="0.00000"/>
676
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
677
+ </inertial>
678
+ </link>
679
+ <link name="link_rf_pm_z">
680
+ <inertial>
681
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
682
+ <mass value="0.00000"/>
683
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
684
+ </inertial>
685
+ <collision>
686
+ <!-- <origin rpy=" 0.38516311 1.37888284 0.31878467" xyz="-0.01415714 0.0010335 -0.00254927"/>
687
+ <geometry>
688
+ <capsule length="0.028843811919740826" radius="0.009"/>
689
+ </geometry> -->
690
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
691
+ <geometry>
692
+ <mesh filename="meshes/rfprox_mean.stl" scale="3 3 3"/>
693
+ </geometry>
694
+ <material name="">
695
+ <contact name="finger"/>
696
+ </material>
697
+ </collision>
698
+ <visual>
699
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
700
+ <geometry>
701
+ <mesh filename="meshes/rfprox_mean.stl" scale="3 3 3"/>
702
+ </geometry>
703
+ <material name="hand_color"/>
704
+ </visual>
705
+ </link>
706
+ <!-- RF2 proximal joint -->
707
+ <joint name="RFJ2" type="revolute">
708
+ <parent link="rffixed"/>
709
+ <child link="rfproximal"/>
710
+ <origin xyz="-0.24520650506019592 -0.01187225989997387 -0.08001960068941116"/>
711
+ <axis xyz="1 0 0"/>
712
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
713
+
714
+ <dynamics damping="1.0" friction="0.0001"/>
715
+ </joint>
716
+ <joint name="RFJ2_y" type="revolute">
717
+ <parent link="rfproximal"/>
718
+ <child link="link_rf_pm_y"/>
719
+ <origin xyz="0.0 0.0 0.0"/>
720
+ <axis xyz="0 1 0"/>
721
+ <limit effort="1000" lower="-0.8" upper="0.8" />
722
+
723
+ <dynamics damping="1.0" friction="0.0001"/>
724
+ </joint>
725
+ <joint name="RFJ2_z" type="revolute">
726
+ <parent link="link_rf_pm_y"/>
727
+ <child link="link_rf_pm_z"/>
728
+ <origin xyz="0.0 0.0 0.0"/>
729
+ <axis xyz="0 0 1"/>
730
+ <limit effort="1000" lower="-0.0" upper="1.57" />
731
+
732
+ <dynamics damping="1.0" friction="0.0001"/>
733
+ </joint>
734
+
735
+ <link name="rfmiddle">
736
+ <inertial>
737
+ <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
738
+ <mass value="0.00487"/>
739
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
740
+ </inertial>
741
+ </link>
742
+ <link name="link_rf_md_y">
743
+ <inertial>
744
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
745
+ <mass value="0.00000"/>
746
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
747
+ </inertial>
748
+ </link>
749
+ <link name="link_rf_md_z">
750
+ <inertial>
751
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
752
+ <mass value="0.00000"/>
753
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
754
+ </inertial>
755
+ <collision>
756
+ <!-- <origin rpy="-0.21763357 1.24988512 -0.15729772" xyz="-0.01176025 -0.00084406 -0.00381691"/>
757
+ <geometry>
758
+ <capsule length="0.024785865310763495" radius="0.0075"/>
759
+ </geometry> -->
760
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
761
+ <geometry>
762
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="3 3 3"/>
763
+ </geometry>
764
+ <material name="">
765
+ <contact name="finger"/>
766
+ </material>
767
+ </collision>
768
+ <visual>
769
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
770
+ <geometry>
771
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="3 3 3"/>
772
+ </geometry>
773
+ <material name="hand_color"/>
774
+ </visual>
775
+ </link>
776
+ <!-- RF1 joint -->
777
+ <joint name="RFJ1" type="revolute">
778
+ <parent link="link_rf_pm_z"/>
779
+ <child link="rfmiddle"/>
780
+ <origin xyz="-0.08494289964437485 0.006201029755175114 -0.015295619145035744"/>
781
+ <axis xyz="1 0 0"/>
782
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
783
+
784
+ <dynamics damping="1.0" friction="0.0001"/>
785
+ </joint>
786
+ <joint name="RFJ1_y" type="revolute">
787
+ <parent link="rfmiddle"/>
788
+ <child link="link_rf_md_y"/>
789
+ <origin xyz="0.0 0.0 0.0"/>
790
+ <axis xyz="0 1 0"/>
791
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
792
+
793
+ <dynamics damping="1.0" friction="0.0001"/>
794
+ </joint>
795
+ <joint name="RFJ1_z" type="revolute">
796
+ <parent link="link_rf_md_y"/>
797
+ <child link="link_rf_md_z"/>
798
+ <origin xyz="0.0 0.0 0.0"/>
799
+ <axis xyz="0 0 1"/>
800
+ <limit effort="1000" lower="-0.000" upper="1.57" />
801
+
802
+ <dynamics damping="1.0" friction="0.0001"/>
803
+ </joint>
804
+
805
+ <link name="rfdistal">
806
+ <inertial>
807
+ <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
808
+ <mass value="0.00272"/>
809
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
810
+ </inertial>
811
+ </link>
812
+ <link name="link_rf_dd_y">
813
+ <inertial>
814
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
815
+ <mass value="0.00000"/>
816
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
817
+ </inertial>
818
+ </link>
819
+ <link name="link_rf_dd_z">
820
+ <inertial>
821
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
822
+ <mass value="0.00000"/>
823
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
824
+ </inertial>
825
+ <collision>
826
+ <!-- <origin rpy="0.43325752 1.27456581 0.32302802" xyz="-0.01460212 0.00187106 -0.00404494"/>
827
+ <geometry>
828
+ <capsule length="0.01" radius="0.0075"/>
829
+ </geometry> -->
830
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
831
+ <geometry>
832
+ <mesh filename="meshes/rfdist_mean.stl" scale="3 3 3"/>
833
+ </geometry>
834
+ <material name="">
835
+ <contact name="finger"/>
836
+ </material>
837
+ </collision>
838
+ <visual>
839
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
840
+ <geometry>
841
+ <mesh filename="meshes/rfdist_mean.stl" scale="3 3 3"/>
842
+ </geometry>
843
+ <material name="hand_color"/>
844
+ </visual>
845
+ </link>
846
+ <!-- RF0 joint -->
847
+ <joint name="RFJ0" type="revolute">
848
+ <parent link="link_rf_md_z"/>
849
+ <child link="rfdistal"/>
850
+ <origin xyz="-0.0705614984035492 -0.005064330063760281 -0.022901460528373718"/>
851
+ <axis xyz="1 0 0"/>
852
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
853
+
854
+ <dynamics damping="1.0" friction="0.0001"/>
855
+ </joint>
856
+ <joint name="RFJ0_y" type="revolute">
857
+ <parent link="rfdistal"/>
858
+ <child link="link_rf_dd_y"/>
859
+ <origin xyz="0.0 0.0 0.0"/>
860
+ <axis xyz="0 1 0"/>
861
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
862
+
863
+ <dynamics damping="1.0" friction="0.0001"/>
864
+ </joint>
865
+ <joint name="RFJ0_z" type="revolute">
866
+ <parent link="link_rf_dd_y"/>
867
+ <child link="link_rf_dd_z"/>
868
+ <origin xyz="0.0 0.0 0.0"/>
869
+ <axis xyz="0 0 1"/>
870
+ <limit effort="1000" lower="-0.000" upper="1.57" />
871
+
872
+ <dynamics damping="1.0" friction="0.0001"/>
873
+ </joint>
874
+
875
+ <link name="link_rftip">
876
+ <inertial>
877
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
878
+ <mass value="0.00000"/>
879
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
880
+ </inertial>
881
+ </link>
882
+ <!-- Fix Finger joint -->
883
+ <joint name="RFTip" type="fixed">
884
+ <parent link="link_rf_dd_z"/>
885
+ <child link="link_rftip"/>
886
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
887
+ </joint>
888
+
889
+ <!-- LF -->
890
+ <link name="lffixed">
891
+ <inertial>
892
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
893
+ <mass value="0.0"/>
894
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
895
+ </inertial>
896
+ </link>
897
+ <!-- Fix Finger joint -->
898
+ <joint name="Palm_LFJ2" type="fixed">
899
+ <parent link="link_palm_rz"/>
900
+ <child link="lffixed"/>
901
+ <origin xyz="0.0 0.0 0.0"/>
902
+ </joint>
903
+
904
+
905
+ <link name="lfproximal">
906
+ <inertial>
907
+ <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
908
+ <mass value="0.00416"/>
909
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
910
+ </inertial>
911
+ </link>
912
+ <link name="link_lf_pm_y">
913
+ <inertial>
914
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
915
+ <mass value="0.00000"/>
916
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
917
+ </inertial>
918
+ </link>
919
+ <link name="link_lf_pm_z">
920
+ <inertial>
921
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
922
+ <mass value="0.00000"/>
923
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
924
+ </inertial>
925
+ <collision>
926
+ <!-- <origin rpy="0.00494643 0.93721839 0.00250398" xyz="-8.50720331e-03 3.09124589e-05 -6.24939241e-03"/>
927
+ <geometry>
928
+ <capsule length="0.0211119273571839" radius="0.009"/>
929
+ </geometry> -->
930
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
931
+ <geometry>
932
+ <mesh filename="meshes/lfprox_mean.stl" scale="3 3 3"/>
933
+ </geometry>
934
+ <material name="">
935
+ <contact name="finger"/>
936
+ </material>
937
+ </collision>
938
+ <visual>
939
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
940
+ <geometry>
941
+ <mesh filename="meshes/lfprox_mean.stl" scale="3 3 3"/>
942
+ </geometry>
943
+ <material name="hand_color"/>
944
+ </visual>
945
+ </link>
946
+ <!-- LF2 proximal joint -->
947
+ <joint name="LFJ2" type="revolute">
948
+ <parent link="lffixed"/>
949
+ <child link="lfproximal"/>
950
+ <origin xyz="-0.20636069774627686 -0.029820989817380905 -0.12962789833545685"/>
951
+ <axis xyz="1 0 0"/>
952
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
953
+
954
+ <dynamics damping="1.0" friction="0.0001"/>
955
+ </joint>
956
+ <joint name="LFJ2_y" type="revolute">
957
+ <parent link="lfproximal"/>
958
+ <child link="link_lf_pm_y"/>
959
+ <origin xyz="0.0 0.0 0.0"/>
960
+ <axis xyz="0 1 0"/>
961
+ <limit effort="1000" lower="-0.8" upper="0.8" />
962
+
963
+ <dynamics damping="1.0" friction="0.0001"/>
964
+ </joint>
965
+ <joint name="LFJ2_z" type="revolute">
966
+ <parent link="link_lf_pm_y"/>
967
+ <child link="link_lf_pm_z"/>
968
+ <origin xyz="0.0 0.0 0.0"/>
969
+ <axis xyz="0 0 1"/>
970
+ <limit effort="1000" lower="-0.0" upper="1.57" />
971
+
972
+ <dynamics damping="1.0" friction="0.0001"/>
973
+ </joint>
974
+
975
+ <link name="lfmiddle">
976
+ <inertial>
977
+ <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
978
+ <mass value="0.00269"/>
979
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
980
+ </inertial>
981
+ </link>
982
+ <link name="link_lf_md_y">
983
+ <inertial>
984
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
985
+ <mass value="0.00000"/>
986
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
987
+ </inertial>
988
+ </link>
989
+ <link name="link_lf_md_z">
990
+ <inertial>
991
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
992
+ <mass value="0.00000"/>
993
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
994
+ </inertial>
995
+ <collision>
996
+ <!-- <origin rpy="-0.06679566 0.99258405 -0.0361792" xyz="-0.00793345 -0.00034558 -0.00516596"/>
997
+ <geometry>
998
+ <capsule length="0.018946892889554656" radius="0.0075"/>
999
+ </geometry> -->
1000
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1001
+ <geometry>
1002
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="3 3 3"/>
1003
+ </geometry>
1004
+ <material name="">
1005
+ <contact name="finger"/>
1006
+ </material>
1007
+ </collision>
1008
+ <visual>
1009
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1010
+ <geometry>
1011
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="3 3 3"/>
1012
+ </geometry>
1013
+ <material name="hand_color"/>
1014
+ </visual>
1015
+ </link>
1016
+ <!-- LF1 joint -->
1017
+ <joint name="LFJ1" type="revolute">
1018
+ <parent link="link_lf_pm_z"/>
1019
+ <child link="lfmiddle"/>
1020
+ <origin xyz="-0.05104319751262665 0.0001854747097240761 -0.03749639913439751"/>
1021
+ <axis xyz="1 0 0"/>
1022
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1023
+
1024
+ <dynamics damping="1.0" friction="0.0001"/>
1025
+ </joint>
1026
+ <joint name="LFJ1_y" type="revolute">
1027
+ <parent link="lfmiddle"/>
1028
+ <child link="link_lf_md_y"/>
1029
+ <origin xyz="0.0 0.0 0.0"/>
1030
+ <axis xyz="0 1 0"/>
1031
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1032
+
1033
+ <dynamics damping="1.0" friction="0.0001"/>
1034
+ </joint>
1035
+ <joint name="LFJ1_z" type="revolute">
1036
+ <parent link="link_lf_md_y"/>
1037
+ <child link="link_lf_md_z"/>
1038
+ <origin xyz="0.0 0.0 0.0"/>
1039
+ <axis xyz="0 0 1"/>
1040
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1041
+
1042
+ <dynamics damping="1.0" friction="0.0001"/>
1043
+ </joint>
1044
+
1045
+ <link name="lfdistal">
1046
+ <inertial>
1047
+ <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
1048
+ <mass value="0.00150"/>
1049
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1050
+ </inertial>
1051
+ </link>
1052
+ <link name="link_lf_dd_y">
1053
+ <inertial>
1054
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1055
+ <mass value="0.00000"/>
1056
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1057
+ </inertial>
1058
+ </link>
1059
+ <link name="link_lf_dd_z">
1060
+ <inertial>
1061
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1062
+ <mass value="0.00000"/>
1063
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1064
+ </inertial>
1065
+ <collision>
1066
+ <!-- <origin rpy="0.22194785 1.02909336 0.12582808" xyz="-0.00977975 0.00129545 -0.00574058"/>
1067
+ <geometry>
1068
+ <capsule length="0.007" radius="0.0065"/>
1069
+ </geometry> -->
1070
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1071
+ <geometry>
1072
+ <mesh filename="meshes/lfdist_mean.stl" scale="3 3 3"/>
1073
+ </geometry>
1074
+ <material name="">
1075
+ <contact name="finger"/>
1076
+ </material>
1077
+ </collision>
1078
+ <visual>
1079
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1080
+ <geometry>
1081
+ <mesh filename="meshes/lfdist_mean.stl" scale="3 3 3"/>
1082
+ </geometry>
1083
+ <material name="hand_color"/>
1084
+ </visual>
1085
+ </link>
1086
+ <!-- LF0 joint -->
1087
+ <joint name="LFJ0" type="revolute">
1088
+ <parent link="link_lf_md_z"/>
1089
+ <child link="lfdistal"/>
1090
+ <origin xyz="-0.047600701451301575 -0.0020734649151563644 -0.030995700508356094"/>
1091
+ <axis xyz="1 0 0"/>
1092
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1093
+
1094
+ <dynamics damping="1.0" friction="0.0001"/>
1095
+ </joint>
1096
+ <joint name="LFJ0_y" type="revolute">
1097
+ <parent link="lfdistal"/>
1098
+ <child link="link_lf_dd_y"/>
1099
+ <origin xyz="0.0 0.0 0.0"/>
1100
+ <axis xyz="0 1 0"/>
1101
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1102
+
1103
+ <dynamics damping="1.0" friction="0.0001"/>
1104
+ </joint>
1105
+ <joint name="LFJ0_z" type="revolute">
1106
+ <parent link="link_lf_dd_y"/>
1107
+ <child link="link_lf_dd_z"/>
1108
+ <origin xyz="0.0 0.0 0.0"/>
1109
+ <axis xyz="0 0 1"/>
1110
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1111
+
1112
+ <dynamics damping="1.0" friction="0.0001"/>
1113
+ </joint>
1114
+ <link name="link_lftip">
1115
+ <inertial>
1116
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1117
+ <mass value="0.00000"/>
1118
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1119
+ </inertial>
1120
+ </link>
1121
+ <!-- Fix Finger joint -->
1122
+ <joint name="LFTip" type="fixed">
1123
+ <parent link="link_lf_dd_z"/>
1124
+ <child link="link_lftip"/>
1125
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
1126
+ </joint>
1127
+
1128
+
1129
+ <!-- TH -->
1130
+ <link name="thfixed">
1131
+ <inertial>
1132
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1133
+ <mass value="0.0"/>
1134
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1135
+ </inertial>
1136
+ </link>
1137
+ <!-- Fix Finger joint -->
1138
+ <joint name="Palm_THJ2" type="fixed">
1139
+ <parent link="link_palm_rz"/>
1140
+ <child link="thfixed"/>
1141
+ <origin xyz="0.0 0.0 0.0"/>
1142
+ </joint>
1143
+
1144
+
1145
+ <link name="thproximal">
1146
+ <inertial>
1147
+ <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
1148
+ <mass value="0.01392"/>
1149
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1150
+ </inertial>
1151
+ </link>
1152
+ <link name="link_th_pm_y">
1153
+ <inertial>
1154
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1155
+ <mass value="0.00000"/>
1156
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1157
+ </inertial>
1158
+ </link>
1159
+ <link name="link_th_pm_z">
1160
+ <inertial>
1161
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1162
+ <mass value="0.00000"/>
1163
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1164
+ </inertial>
1165
+ <collision>
1166
+ <!-- <origin rpy="3.10400265 0.69148607 3.03731965" xyz="-0.00981662 0.00044564 0.01184977"/>
1167
+ <geometry>
1168
+ <capsule length="0.030788427516318044" radius="0.01"/>
1169
+ </geometry> -->
1170
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1171
+ <geometry>
1172
+ <mesh filename="meshes/thprox_mean.stl" scale="3 3 3"/>
1173
+ </geometry>
1174
+ </collision>
1175
+ <material name="">
1176
+ <contact name="finger"/>
1177
+ </material>
1178
+ <visual>
1179
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1180
+ <geometry>
1181
+ <mesh filename="meshes/thprox_mean.stl" scale="3 3 3"/>
1182
+ </geometry>
1183
+ <material name="hand_color"/>
1184
+ </visual>
1185
+ </link>
1186
+ <!-- TH2 proximal joint -->
1187
+ <joint name="THJ2" type="revolute">
1188
+ <parent link="thfixed"/>
1189
+ <child link="thproximal"/>
1190
+ <origin xyz="-0.07226909697055817 -0.04656689986586571 0.07743839919567108"/>
1191
+ <axis xyz="1 0 0"/>
1192
+ <limit effort="1000" lower="0" upper="1.57" />
1193
+ <dynamics damping="1.0" friction="0.0001"/>
1194
+ </joint>
1195
+ <joint name="THJ2_y" type="revolute">
1196
+ <parent link="thproximal"/>
1197
+ <child link="link_th_pm_y"/>
1198
+ <origin xyz="0.0 0.0 0.0"/>
1199
+ <axis xyz="0 1 0"/>
1200
+ <limit effort="1000" lower="-0.8" upper="0.8" />
1201
+ <dynamics damping="1.0" friction="0.0001"/>
1202
+ </joint>
1203
+ <joint name="THJ2_z" type="revolute">
1204
+ <parent link="link_th_pm_y"/>
1205
+ <child link="link_th_pm_z"/>
1206
+ <origin xyz="0.0 0.0 0.0"/>
1207
+ <axis xyz="0 0 1"/>
1208
+ <limit effort="1000" lower="-0.25" upper="0.25" />
1209
+ <dynamics damping="1.0" friction="0.0001"/>
1210
+ </joint>
1211
+
1212
+ <link name="thmiddle">
1213
+ <inertial>
1214
+ <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
1215
+ <mass value="0.00802"/>
1216
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1217
+ </inertial>
1218
+ </link>
1219
+ <link name="link_th_md_y">
1220
+ <inertial>
1221
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1222
+ <mass value="0.00000"/>
1223
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1224
+ </inertial>
1225
+ </link>
1226
+ <link name="link_th_md_z">
1227
+ <inertial>
1228
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1229
+ <mass value="0.00000"/>
1230
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1231
+ </inertial>
1232
+ <collision>
1233
+ <!-- <origin rpy=" -2.78364168 0.96144328 -2.47379542" xyz="-0.01110887 -0.00271648 0.00726206"/>
1234
+ <geometry>
1235
+ <capsule length="0.02709418497996566" radius="0.01"/>
1236
+ </geometry> -->
1237
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1238
+ <geometry>
1239
+ <mesh filename="meshes/thmiddle_mean.stl" scale="3 3 3"/>
1240
+ </geometry>
1241
+ <material name="">
1242
+ <contact name="finger"/>
1243
+ </material>
1244
+ </collision>
1245
+ <visual>
1246
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1247
+ <geometry>
1248
+ <mesh filename="meshes/thmiddle_mean.stl" scale="3 3 3"/>
1249
+ </geometry>
1250
+ <material name="hand_color"/>
1251
+ </visual>
1252
+ </link>
1253
+ <!-- TH1 joint -->
1254
+ <joint name="THJ1" type="revolute">
1255
+ <parent link="link_th_pm_z"/>
1256
+ <child link="thmiddle"/>
1257
+ <origin xyz="-0.05889960005879402 0.0026738580781966448 0.07109849900007248"/>
1258
+ <axis xyz="1 0 0"/>
1259
+ <limit effort="1000" lower="-1" upper="1" />
1260
+ <dynamics damping="1.0" friction="0.0001"/>
1261
+ </joint>
1262
+ <joint name="THJ1_y" type="revolute">
1263
+ <parent link="thmiddle"/>
1264
+ <child link="link_th_md_y"/>
1265
+ <origin xyz="0.0 0.0 0.0"/>
1266
+ <axis xyz="0 1 0"/>
1267
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1268
+ <dynamics damping="1.0" friction="0.0001"/>
1269
+ </joint>
1270
+ <joint name="THJ1_z" type="revolute">
1271
+ <parent link="link_th_md_y"/>
1272
+ <child link="link_th_md_z"/>
1273
+ <origin xyz="0.0 0.0 0.0"/>
1274
+ <axis xyz="0 0 1"/>
1275
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1276
+ <dynamics damping="1.0" friction="0.0001"/>
1277
+ </joint>
1278
+
1279
+ <link name="thdistal">
1280
+ <inertial>
1281
+ <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
1282
+ <mass value="0.00726"/>
1283
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1284
+ </inertial>
1285
+ </link>
1286
+ <link name="link_th_dd_y">
1287
+ <inertial>
1288
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1289
+ <mass value="0.00000"/>
1290
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1291
+ </inertial>
1292
+ </link>
1293
+ <link name="link_th_dd_z">
1294
+ <inertial>
1295
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1296
+ <mass value="0.00000"/>
1297
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1298
+ </inertial>
1299
+ <collision>
1300
+ <!-- <origin rpy="-2.83317999 0.97259243 -2.56963586" xyz="-0.01577465 -0.00326327 0.01024323"/>
1301
+ <geometry>
1302
+ <capsule length="0.02" radius="0.01"/>
1303
+ </geometry> -->
1304
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1305
+ <geometry>
1306
+ <mesh filename="meshes/thdist_mean.stl" scale="3 3 3"/>
1307
+ </geometry>
1308
+ <material name="">
1309
+ <contact name="finger"/>
1310
+ </material>
1311
+ </collision>
1312
+ <visual>
1313
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1314
+ <geometry>
1315
+ <mesh filename="meshes/thdist_mean.stl" scale="3 3 3"/>
1316
+ </geometry>
1317
+ <material name="hand_color"/>
1318
+ </visual>
1319
+ </link>
1320
+ <!-- TH0 joint -->
1321
+ <joint name="THJ0" type="revolute">
1322
+ <parent link="link_th_md_z"/>
1323
+ <child link="thdistal"/>
1324
+ <origin xyz="-0.06665310263633728 -0.01629890874028206 0.04357229918241501"/>
1325
+ <axis xyz="1 0 0"/>
1326
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1327
+ <dynamics damping="1.0" friction="0.0001"/>
1328
+ </joint>
1329
+ <joint name="THJ0_y" type="revolute">
1330
+ <parent link="thdistal"/>
1331
+ <child link="link_th_dd_y"/>
1332
+ <origin xyz="0.0 0.0 0.0"/>
1333
+ <axis xyz="0 1 0"/>
1334
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1335
+
1336
+ <dynamics damping="1.0" friction="0.0001"/>
1337
+ </joint>
1338
+ <joint name="THJ0_z" type="revolute">
1339
+ <parent link="link_th_dd_y"/>
1340
+ <child link="link_th_dd_z"/>
1341
+ <origin xyz="0.0 0.0 0.0"/>
1342
+ <axis xyz="0 0 1"/>
1343
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1344
+
1345
+ <dynamics damping="1.0" friction="0.0001"/>
1346
+ </joint>
1347
+ <link name="link_thtip">
1348
+ <inertial>
1349
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1350
+ <mass value="0.00000"/>
1351
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1352
+ </inertial>
1353
+ </link>
1354
+ <!-- Fix Finger joint -->
1355
+ <joint name="THTip" type="fixed">
1356
+ <parent link="link_th_dd_z"/>
1357
+ <child link="link_thtip"/>
1358
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1359
+ </joint>
1360
+
1361
+
1362
+ </robot>
rsc/mano/mano_mean_wcollision_scaled_scaled_0_9507.urdf ADDED
@@ -0,0 +1,1362 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="mano">
3
+
4
+
5
+ <material name="hand_color">
6
+ <color rgba="0.91796875 0.765 0.5234 1"/>
7
+ </material>
8
+ <!-- <link name="world"> </link> -->
9
+
10
+ <!-- <joint name="world_to_base" type="fixed">
11
+ <axis xyz="0 0 0"/>
12
+ <origin xyz="0.0 0.0 0.0"/>
13
+ <parent link="world"/>
14
+ <child link="sliderBar"/>
15
+ </joint> -->
16
+
17
+ <link name="sliderBar">
18
+ <inertial>
19
+ <mass value="0"/>
20
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
21
+ </inertial>
22
+ </link>
23
+
24
+ <!--
25
+ Palm
26
+ -->
27
+ <!-- Palm -->
28
+ <link name="palm">
29
+ <inertial>
30
+ <!-- <origin rpy="1.58112 0.01503 1.64315" xyz="-0.03429 -0.00198 0.00005"/> -->
31
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
32
+ <mass value="0.25042"/>
33
+ <inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/>
34
+ </inertial>
35
+ </link>
36
+
37
+ <link name="link_palm_y">
38
+ <inertial>
39
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
40
+ <mass value="0.00000"/>
41
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
42
+ </inertial>
43
+ </link>
44
+ <link name="link_palm_z">
45
+ <inertial>
46
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
47
+ <mass value="0.00000"/>
48
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
49
+ </inertial>
50
+ </link>
51
+ <link name="link_palm_rx">
52
+ <inertial>
53
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
54
+ <mass value="0.00000"/>
55
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
56
+ </inertial>
57
+ </link>
58
+ <link name="link_palm_ry">
59
+ <inertial>
60
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
61
+ <mass value="0.00000"/>
62
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
63
+ </inertial>
64
+ </link>
65
+ <link name="link_palm_rz">
66
+ <inertial>
67
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
68
+ <mass value="0.00000"/>
69
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
70
+ </inertial>
71
+ <visual>
72
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
73
+ <geometry>
74
+ <mesh filename="meshes/palm_mean.stl" scale="0.9507 0.9507 0.9507"/>
75
+ </geometry>
76
+ <material name="hand_color"/>
77
+ </visual>
78
+ <collision>
79
+ <!-- <origin rpy="0 0 0.2" xyz="-0.03 0 0"/>
80
+ <geometry>
81
+ <box size="0.08780 0.027 0.07"/>
82
+ </geometry> -->
83
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
84
+ <geometry>
85
+ <mesh filename="meshes/palm_mean.stl" scale="0.9507 0.9507 0.9507"/>
86
+ </geometry>
87
+ <material name="">
88
+ <contact name="finger"/>
89
+ </material>
90
+ </collision>
91
+ <!-- <collision>
92
+ <origin rpy="-2.61505 0.70030 -1.87000" xyz="-0.01187 -0.00708 0.01218"/>
93
+ <geometry>
94
+ <capsule length="0.03684" radius="0.015"/>
95
+ </geometry>
96
+ <material name="">
97
+ <contact name="finger"/>
98
+ </material>
99
+ </collision> -->
100
+ </link>
101
+ <joint name="WRJ0x" type="prismatic">
102
+ <parent link="sliderBar"/>
103
+ <child link="palm"/>
104
+ <origin xyz="0.0 0.0 0.0"/>
105
+ <axis xyz="1 0 0"/>
106
+ <limit effort="100.0" lower="-2" upper="2" />
107
+ <dynamics damping="10.0" friction="0.0001"/>
108
+ </joint>
109
+ <joint name="WRJ0y" type="prismatic">
110
+ <parent link="palm"/>
111
+ <child link="link_palm_y"/>
112
+ <origin xyz="0.0 0.0 0.0"/>
113
+ <axis xyz="0 1 0"/>
114
+ <limit effort="100.0" lower="-2" upper="2" />
115
+ <dynamics damping="10.0" friction="0.0001"/>
116
+ </joint>
117
+ <joint name="WRJ0z" type="prismatic">
118
+ <parent link="link_palm_y"/>
119
+ <child link="link_palm_z"/>
120
+ <origin xyz="0.0 0.0 0.0"/>
121
+ <axis xyz="0 0 1"/>
122
+ <limit effort="100.0" lower="-2" upper="2"/>
123
+ <dynamics damping="10.0" friction="0.0001"/>
124
+ </joint>
125
+ <joint name="WRJ0rx" type="revolute">
126
+ <parent link="link_palm_z"/>
127
+ <child link="link_palm_rx"/>
128
+ <origin xyz="0.0 0.0 0.0"/>
129
+ <axis xyz="1 0 0"/>
130
+ <limit effort="1000" lower="-3.14" upper="3.14" />
131
+
132
+ <dynamics damping="1.0" friction="0.0001"/>
133
+ </joint>
134
+ <joint name="WRJ0ry" type="revolute">
135
+ <parent link="link_palm_rx"/>
136
+ <child link="link_palm_ry"/>
137
+ <origin xyz="0.0 0.0 0.0"/>
138
+ <axis xyz="0 1 0"/>
139
+ <limit effort="1000" lower="-3.14" upper="3.14" />
140
+
141
+ <dynamics damping="1.0" friction="0.0001"/>
142
+ </joint>
143
+ <joint name="WRJ0rz" type="revolute">
144
+ <parent link="link_palm_ry"/>
145
+ <child link="link_palm_rz"/>
146
+ <origin xyz="0.0 0.0 0.0"/>
147
+ <axis xyz="0 0 1"/>
148
+ <limit effort="1000" lower="-3.14" upper="3.14" />
149
+ <dynamics damping="1.0" friction="0.0001"/>
150
+ </joint>
151
+
152
+
153
+ <!-- FF -->
154
+ <link name="fffixed">
155
+ <inertial>
156
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
157
+ <mass value="0.0"/>
158
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
159
+ </inertial>
160
+ </link>
161
+ <!-- Fix Finger joint -->
162
+ <joint name="Palm_FFJ2" type="fixed">
163
+ <parent link="link_palm_rz"/>
164
+ <child link="fffixed"/>
165
+ <origin xyz="0.0 0.0 0.0"/>
166
+ </joint>
167
+
168
+
169
+ <link name="ffproximal">
170
+ <inertial>
171
+ <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
172
+ <mass value="0.00845"/>
173
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
174
+ </inertial>
175
+ </link>
176
+ <link name="link_ff_pm_y">
177
+ <inertial>
178
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
179
+ <mass value="0.00000"/>
180
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
181
+ </inertial>
182
+ </link>
183
+ <link name="link_ff_pm_z">
184
+ <inertial>
185
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
186
+ <mass value="0.00000"/>
187
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
188
+ </inertial>
189
+ <collision>
190
+ <!-- <origin rpy="2.0759187 1.43150624 1.94972864" xyz="-0.01633945 0.00200468 0.00110853"/>
191
+ <geometry>
192
+ <capsule length="0.0329984988704395" radius="0.009"/>
193
+ </geometry> -->
194
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
195
+ <geometry>
196
+ <mesh filename="meshes/ffprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
197
+ </geometry>
198
+ <material name="">
199
+ <contact name="finger"/>
200
+ </material>
201
+ </collision>
202
+ <visual>
203
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
204
+ <geometry>
205
+ <mesh filename="meshes/ffprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
206
+ </geometry>
207
+ <material name="hand_color"/>
208
+ </visual>
209
+ </link>
210
+ <!-- FF2 proximal joint -->
211
+ <joint name="FFJ2" type="revolute">
212
+ <parent link="fffixed"/>
213
+ <child link="ffproximal"/>
214
+ <origin xyz="-0.08375400304794312 -0.004943982232362032 0.01966618001461029"/>
215
+ <axis xyz="1 0 0"/>
216
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
217
+
218
+ <dynamics damping="1.0" friction="0.0001"/>
219
+ </joint>
220
+ <joint name="FFJ2_y" type="revolute">
221
+ <parent link="ffproximal"/>
222
+ <child link="link_ff_pm_y"/>
223
+ <origin xyz="0 0 0"/>
224
+ <axis xyz="0 1 0"/>
225
+ <limit effort="1000" lower="-0.8" upper="0.8" />
226
+
227
+ <dynamics damping="1.0" friction="0.0001"/>
228
+ </joint>
229
+ <joint name="FFJ2_z" type="revolute">
230
+ <parent link="link_ff_pm_y"/>
231
+ <child link="link_ff_pm_z"/>
232
+ <origin xyz="0 0 0"/>
233
+ <axis xyz="0 0 1"/>
234
+ <limit effort="1000" lower="-0.0" upper="1.57" />
235
+
236
+ <dynamics damping="1.0" friction="0.0001"/>
237
+ </joint>
238
+
239
+ <link name="ffmiddle_fixed">
240
+ <inertial>
241
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
242
+ <mass value="0.0"/>
243
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
244
+ </inertial>
245
+ </link>
246
+ <link name="ffmiddle">
247
+ <inertial>
248
+ <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
249
+ <mass value="0.00413"/>
250
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
251
+ </inertial>
252
+ </link>
253
+ <link name="link_ff_md_y">
254
+ <inertial>
255
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
256
+ <mass value="0.00000"/>
257
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
258
+ </inertial>
259
+ </link>
260
+ <link name="link_ff_md_z">
261
+ <inertial>
262
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
263
+ <mass value="0.00000"/>
264
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
265
+ </inertial>
266
+ <collision>
267
+ <!-- <origin rpy="-1.48313839 1.51203433 -1.42475203" xyz="-1.10779554e-02 -6.49210764e-04 -5.70546836e-05"/>
268
+ <geometry>
269
+ <capsule length="0.02219421770877059" radius="0.0075"/>
270
+ </geometry> -->
271
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
272
+ <geometry>
273
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
274
+ </geometry>
275
+ <material name="">
276
+ <contact name="finger"/>
277
+ </material>
278
+ </collision>
279
+ <visual>
280
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
281
+ <geometry>
282
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
283
+ </geometry>
284
+ <material name="hand_color"/>
285
+ </visual>
286
+ </link>
287
+ <!-- FF1 joint -->
288
+ <joint name="FFJ1_f" type="fixed">
289
+ <parent link="link_ff_pm_z"/>
290
+ <child link="ffmiddle_fixed"/>
291
+ <origin xyz="-0.031067827716469765 0.003811689093708992 0.0021077587734907866"/>
292
+ <axis xyz="1 0 0"/>
293
+ </joint>
294
+ <joint name="FFJ1" type="revolute">
295
+ <parent link="ffmiddle_fixed"/>
296
+ <child link="ffmiddle"/>
297
+ <origin xyz="0.0 0.0 0.0"/>
298
+ <axis xyz="1 0 0"/>
299
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
300
+
301
+ <dynamics damping="1.0" friction="0.0001"/>
302
+ </joint>
303
+ <joint name="FFJ1_y" type="revolute">
304
+ <parent link="ffmiddle"/>
305
+ <child link="link_ff_md_y"/>
306
+ <origin xyz="0.0 0.0 0.0"/>
307
+ <axis xyz="0 1 0"/>
308
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
309
+
310
+ <dynamics damping="1.0" friction="0.0001"/>
311
+ </joint>
312
+ <joint name="FFJ1_z" type="revolute">
313
+ <parent link="link_ff_md_y"/>
314
+ <child link="link_ff_md_z"/>
315
+ <origin xyz="0.0 0.0 0.0"/>
316
+ <axis xyz="0 0 1"/>
317
+ <limit effort="1000" lower="-0.5000" upper="1.57" />
318
+
319
+ <dynamics damping="1.0" friction="0.0001"/>
320
+ </joint>
321
+
322
+ <link name="ffdistal">
323
+ <inertial>
324
+ <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
325
+ <mass value="0.00293"/>
326
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
327
+ </inertial>
328
+ </link>
329
+ <link name="link_ff_dd_y">
330
+ <inertial>
331
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
332
+ <mass value="0.00000"/>
333
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
334
+ </inertial>
335
+ </link>
336
+ <link name="link_ff_dd_z">
337
+ <inertial>
338
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
339
+ <mass value="0.00000"/>
340
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
341
+ </inertial>
342
+ <collision>
343
+ <!-- <origin rpy="2.96610898 1.39582282 2.93259132 " xyz="-0.01163138 0.00035898 0.00202463"/>
344
+ <geometry>
345
+ <capsule length="0.015" radius="0.0075"/>
346
+ </geometry> -->
347
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
348
+ <geometry>
349
+ <mesh filename="meshes/ffdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
350
+ </geometry>
351
+ <material name="">
352
+ <contact name="finger"/>
353
+ </material>
354
+ </collision>
355
+ <visual>
356
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
357
+ <geometry>
358
+ <mesh filename="meshes/ffdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
359
+ </geometry>
360
+ <material name="hand_color"/>
361
+ </visual>
362
+ </link>
363
+ <!-- FF1 joint -->
364
+ <joint name="FFJ0" type="revolute">
365
+ <parent link="link_ff_md_z"/>
366
+ <child link="ffdistal"/>
367
+ <origin xyz="-0.021063612774014473 -0.0012344078859314322 -0.00010848342935787514"/>
368
+ <axis xyz="1 0 0"/>
369
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
370
+
371
+ <dynamics damping="1.0" friction="0.0001"/>
372
+ </joint>
373
+ <joint name="FFJ0_y" type="revolute">
374
+ <parent link="ffdistal"/>
375
+ <child link="link_ff_dd_y"/>
376
+ <origin xyz="0.0 0.0 0.0"/>
377
+ <axis xyz="0 1 0"/>
378
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
379
+
380
+ <dynamics damping="1.0" friction="0.0001"/>
381
+ </joint>
382
+ <joint name="FFJ0_z" type="revolute">
383
+ <parent link="link_ff_dd_y"/>
384
+ <child link="link_ff_dd_z"/>
385
+ <origin xyz="0.0 0.0 0.0"/>
386
+ <axis xyz="0 0 1"/>
387
+ <limit effort="1000" lower="-0.000" upper="1.57" />
388
+
389
+ <dynamics damping="1.0" friction="0.0001"/>
390
+ </joint>
391
+
392
+ <link name="link_fftip">
393
+ <inertial>
394
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
395
+ <mass value="0.00000"/>
396
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
397
+ </inertial>
398
+ </link>
399
+ <!-- Fix Finger joint -->
400
+ <joint name="FFTip" type="fixed">
401
+ <parent link="link_ff_dd_z"/>
402
+ <child link="link_fftip"/>
403
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
404
+ </joint>
405
+
406
+ <!-- MF -->
407
+ <link name="mffixed">
408
+ <inertial>
409
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
410
+ <mass value="0.0"/>
411
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
412
+ </inertial>
413
+ </link>
414
+ <!-- Fix Finger joint -->
415
+ <joint name="Palm_MFJ2" type="fixed">
416
+ <parent link="link_palm_rz"/>
417
+ <child link="mffixed"/>
418
+ <origin xyz="0.0 0.0 0.0"/>
419
+ </joint>
420
+
421
+
422
+ <link name="mfproximal">
423
+ <inertial>
424
+ <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
425
+ <mass value="0.00996"/>
426
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
427
+ </inertial>
428
+ </link>
429
+ <link name="link_mf_pm_y">
430
+ <inertial>
431
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
432
+ <mass value="0.00000"/>
433
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
434
+ </inertial>
435
+ </link>
436
+ <link name="link_mf_pm_z">
437
+ <inertial>
438
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
439
+ <mass value="0.00000"/>
440
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
441
+ </inertial>
442
+ <collision>
443
+ <!-- <origin rpy="0.32118629 1.38392244 0.26686409" xyz="-0.01559134 0.00093066 -0.00279725"/>
444
+ <geometry>
445
+ <capsule length="0.031735191602453826" radius="0.009"/>
446
+ </geometry> -->
447
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
448
+ <geometry>
449
+ <mesh filename="meshes/mfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
450
+ </geometry>
451
+ <material name="">
452
+ <contact name="finger"/>
453
+ </material>
454
+ </collision>
455
+ <visual>
456
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
457
+ <geometry>
458
+ <mesh filename="meshes/mfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
459
+ </geometry>
460
+ <material name="hand_color"/>
461
+ </visual>
462
+
463
+ </link>
464
+ <!-- MF2 proximal joint -->
465
+ <joint name="MFJ2" type="revolute">
466
+ <parent link="mffixed"/>
467
+ <child link="mfproximal"/>
468
+ <origin xyz="-0.08999364078044891 -0.001406047260388732 -0.003192013129591942"/>
469
+ <axis xyz="1 0 0"/>
470
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
471
+
472
+ <dynamics damping="1.0" friction="0.0001"/>
473
+ </joint>
474
+ <joint name="MFJ2_y" type="revolute">
475
+ <parent link="mfproximal"/>
476
+ <child link="link_mf_pm_y"/>
477
+ <origin xyz="0.0 0.0 0.0"/>
478
+ <axis xyz="0 1 0"/>
479
+ <limit effort="1000" lower="-0.8" upper="0.8" />
480
+
481
+ <dynamics damping="1.0" friction="0.0001"/>
482
+ </joint>
483
+ <joint name="MFJ2_z" type="revolute">
484
+ <parent link="link_mf_pm_y"/>
485
+ <child link="link_mf_pm_z"/>
486
+ <origin xyz="0.0 0.0 0.0"/>
487
+ <axis xyz="0 0 1"/>
488
+ <limit effort="1000" lower="-0.0" upper="1.57" />
489
+
490
+ <dynamics damping="1.0" friction="0.0001"/>
491
+ </joint>
492
+
493
+ <link name="mfmiddle">
494
+ <inertial>
495
+ <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
496
+ <mass value="0.00400"/>
497
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
498
+ </inertial>
499
+ </link>
500
+ <link name="link_mf_md_y">
501
+ <inertial>
502
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
503
+ <mass value="0.00000"/>
504
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
505
+ </inertial>
506
+ </link>
507
+ <link name="link_mf_md_z">
508
+ <inertial>
509
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
510
+ <mass value="0.00000"/>
511
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
512
+ </inertial>
513
+ <collision>
514
+ <!-- <origin rpy="-0.30736925 1.39204219 -0.25742004" xyz="-0.01145232 -0.00062605 -0.00197226"/>
515
+ <geometry>
516
+ <capsule length="0.023275522107771795" radius="0.0075"/>
517
+ </geometry> -->
518
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
519
+ <geometry>
520
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
521
+ </geometry>
522
+ <material name="">
523
+ <contact name="finger"/>
524
+ </material>
525
+ </collision>
526
+ <visual>
527
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
528
+ <geometry>
529
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
530
+ </geometry>
531
+ <material name="hand_color"/>
532
+ </visual>
533
+ </link>
534
+ <!-- MF1 joint -->
535
+ <joint name="MFJ1" type="revolute">
536
+ <parent link="link_mf_pm_z"/>
537
+ <child link="mfmiddle"/>
538
+ <origin xyz="-0.029645392671227455 0.0017695664428174496 -0.005318700801581144"/>
539
+ <axis xyz="1 0 0"/>
540
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
541
+
542
+ <dynamics damping="1.0" friction="0.0001"/>
543
+ </joint>
544
+ <joint name="MFJ1_y" type="revolute">
545
+ <parent link="mfmiddle"/>
546
+ <child link="link_mf_md_y"/>
547
+ <origin xyz="0.0 0.0 0.0"/>
548
+ <axis xyz="0 1 0"/>
549
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
550
+
551
+ <dynamics damping="1.0" friction="0.0001"/>
552
+ </joint>
553
+ <joint name="MFJ1_z" type="revolute">
554
+ <parent link="link_mf_md_y"/>
555
+ <child link="link_mf_md_z"/>
556
+ <origin xyz="0.0 0.0 0.0"/>
557
+ <axis xyz="0 0 1"/>
558
+ <limit effort="1000" lower="-0.000" upper="1.57" />
559
+
560
+ <dynamics damping="1.0" friction="0.0001"/>
561
+ </joint>
562
+
563
+ <link name="mfdistal">
564
+ <inertial>
565
+ <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
566
+ <mass value="0.00289"/>
567
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
568
+ </inertial>
569
+ </link>
570
+ <link name="link_mf_dd_y">
571
+ <inertial>
572
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
573
+ <mass value="0.00000"/>
574
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
575
+ </inertial>
576
+ </link>
577
+ <link name="link_mf_dd_z">
578
+ <inertial>
579
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
580
+ <mass value="0.00000"/>
581
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
582
+ </inertial>
583
+ <collision>
584
+ <!-- <origin rpy="-0.21855015 1.36348088 -0.17760409" xyz="-0.01551503 -0.00070755 -0.00318577"/>
585
+ <geometry>
586
+ <capsule length="0.01" radius="0.0075"/>
587
+ </geometry> -->
588
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
589
+ <geometry>
590
+ <mesh filename="meshes/mfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
591
+ </geometry>
592
+ <material name="">
593
+ <contact name="finger"/>
594
+ </material>
595
+ </collision>
596
+ <visual>
597
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
598
+ <geometry>
599
+ <mesh filename="meshes/mfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
600
+ </geometry>
601
+ <material name="hand_color"/>
602
+ </visual>
603
+ </link>
604
+ <!-- MF0 joint -->
605
+ <joint name="MFJ0" type="revolute">
606
+ <parent link="link_mf_md_z"/>
607
+ <child link="mfdistal"/>
608
+ <origin xyz="-0.02177540212869644 -0.0011903714621439576 -0.0037500550970435143"/>
609
+ <axis xyz="1 0 0"/>
610
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
611
+
612
+ <dynamics damping="1.0" friction="0.0001"/>
613
+ </joint>
614
+ <joint name="MFJ0_y" type="revolute">
615
+ <parent link="mfdistal"/>
616
+ <child link="link_mf_dd_y"/>
617
+ <origin xyz="0.0 0.0 0.0"/>
618
+ <axis xyz="0 1 0"/>
619
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
620
+
621
+ <dynamics damping="1.0" friction="0.0001"/>
622
+ </joint>
623
+ <joint name="MFJ0_z" type="revolute">
624
+ <parent link="link_mf_dd_y"/>
625
+ <child link="link_mf_dd_z"/>
626
+ <origin xyz="0.0 0.0 0.0"/>
627
+ <axis xyz="0 0 1"/>
628
+ <limit effort="1000" lower="-0.000" upper="1.57" />
629
+
630
+ <dynamics damping="1.0" friction="0.0001"/>
631
+ </joint>
632
+
633
+ <link name="link_mftip">
634
+ <inertial>
635
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
636
+ <mass value="0.00000"/>
637
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
638
+ </inertial>
639
+ </link>
640
+ <!-- Fix Finger joint -->
641
+ <joint name="MFTip" type="fixed">
642
+ <parent link="link_mf_dd_z"/>
643
+ <child link="link_mftip"/>
644
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
645
+
646
+ </joint>
647
+
648
+ <!-- RF -->
649
+ <link name="rffixed">
650
+ <inertial>
651
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
652
+ <mass value="0.0"/>
653
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
654
+ </inertial>
655
+ </link>
656
+
657
+ <!-- Fix Finger joint -->
658
+ <joint name="Palm_RFJ2" type="fixed">
659
+ <parent link="link_palm_rz"/>
660
+ <child link="rffixed"/>
661
+ <origin xyz="0.0 0.0 0.0"/>
662
+ </joint>
663
+
664
+
665
+ <link name="rfproximal">
666
+ <inertial>
667
+ <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
668
+ <mass value="0.00725"/>
669
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
670
+ </inertial>
671
+ </link>
672
+ <link name="link_rf_pm_y">
673
+ <inertial>
674
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
675
+ <mass value="0.00000"/>
676
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
677
+ </inertial>
678
+ </link>
679
+ <link name="link_rf_pm_z">
680
+ <inertial>
681
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
682
+ <mass value="0.00000"/>
683
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
684
+ </inertial>
685
+ <collision>
686
+ <!-- <origin rpy=" 0.38516311 1.37888284 0.31878467" xyz="-0.01415714 0.0010335 -0.00254927"/>
687
+ <geometry>
688
+ <capsule length="0.028843811919740826" radius="0.009"/>
689
+ </geometry> -->
690
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
691
+ <geometry>
692
+ <mesh filename="meshes/rfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
693
+ </geometry>
694
+ <material name="">
695
+ <contact name="finger"/>
696
+ </material>
697
+ </collision>
698
+ <visual>
699
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
700
+ <geometry>
701
+ <mesh filename="meshes/rfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
702
+ </geometry>
703
+ <material name="hand_color"/>
704
+ </visual>
705
+ </link>
706
+ <!-- RF2 proximal joint -->
707
+ <joint name="RFJ2" type="revolute">
708
+ <parent link="rffixed"/>
709
+ <child link="rfproximal"/>
710
+ <origin xyz="-0.07770593464374542 -0.003762319218367338 -0.025358211249113083"/>
711
+ <axis xyz="1 0 0"/>
712
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
713
+
714
+ <dynamics damping="1.0" friction="0.0001"/>
715
+ </joint>
716
+ <joint name="RFJ2_y" type="revolute">
717
+ <parent link="rfproximal"/>
718
+ <child link="link_rf_pm_y"/>
719
+ <origin xyz="0.0 0.0 0.0"/>
720
+ <axis xyz="0 1 0"/>
721
+ <limit effort="1000" lower="-0.8" upper="0.8" />
722
+
723
+ <dynamics damping="1.0" friction="0.0001"/>
724
+ </joint>
725
+ <joint name="RFJ2_z" type="revolute">
726
+ <parent link="link_rf_pm_y"/>
727
+ <child link="link_rf_pm_z"/>
728
+ <origin xyz="0.0 0.0 0.0"/>
729
+ <axis xyz="0 0 1"/>
730
+ <limit effort="1000" lower="-0.0" upper="1.57" />
731
+
732
+ <dynamics damping="1.0" friction="0.0001"/>
733
+ </joint>
734
+
735
+ <link name="rfmiddle">
736
+ <inertial>
737
+ <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
738
+ <mass value="0.00487"/>
739
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
740
+ </inertial>
741
+ </link>
742
+ <link name="link_rf_md_y">
743
+ <inertial>
744
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
745
+ <mass value="0.00000"/>
746
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
747
+ </inertial>
748
+ </link>
749
+ <link name="link_rf_md_z">
750
+ <inertial>
751
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
752
+ <mass value="0.00000"/>
753
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
754
+ </inertial>
755
+ <collision>
756
+ <!-- <origin rpy="-0.21763357 1.24988512 -0.15729772" xyz="-0.01176025 -0.00084406 -0.00381691"/>
757
+ <geometry>
758
+ <capsule length="0.024785865310763495" radius="0.0075"/>
759
+ </geometry> -->
760
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
761
+ <geometry>
762
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
763
+ </geometry>
764
+ <material name="">
765
+ <contact name="finger"/>
766
+ </material>
767
+ </collision>
768
+ <visual>
769
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
770
+ <geometry>
771
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
772
+ </geometry>
773
+ <material name="hand_color"/>
774
+ </visual>
775
+ </link>
776
+ <!-- RF1 joint -->
777
+ <joint name="RFJ1" type="revolute">
778
+ <parent link="link_rf_pm_z"/>
779
+ <child link="rfmiddle"/>
780
+ <origin xyz="-0.026918403804302216 0.0019651062320917845 -0.004847181960940361"/>
781
+ <axis xyz="1 0 0"/>
782
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
783
+
784
+ <dynamics damping="1.0" friction="0.0001"/>
785
+ </joint>
786
+ <joint name="RFJ1_y" type="revolute">
787
+ <parent link="rfmiddle"/>
788
+ <child link="link_rf_md_y"/>
789
+ <origin xyz="0.0 0.0 0.0"/>
790
+ <axis xyz="0 1 0"/>
791
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
792
+
793
+ <dynamics damping="1.0" friction="0.0001"/>
794
+ </joint>
795
+ <joint name="RFJ1_z" type="revolute">
796
+ <parent link="link_rf_md_y"/>
797
+ <child link="link_rf_md_z"/>
798
+ <origin xyz="0.0 0.0 0.0"/>
799
+ <axis xyz="0 0 1"/>
800
+ <limit effort="1000" lower="-0.000" upper="1.57" />
801
+
802
+ <dynamics damping="1.0" friction="0.0001"/>
803
+ </joint>
804
+
805
+ <link name="rfdistal">
806
+ <inertial>
807
+ <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
808
+ <mass value="0.00272"/>
809
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
810
+ </inertial>
811
+ </link>
812
+ <link name="link_rf_dd_y">
813
+ <inertial>
814
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
815
+ <mass value="0.00000"/>
816
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
817
+ </inertial>
818
+ </link>
819
+ <link name="link_rf_dd_z">
820
+ <inertial>
821
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
822
+ <mass value="0.00000"/>
823
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
824
+ </inertial>
825
+ <collision>
826
+ <!-- <origin rpy="0.43325752 1.27456581 0.32302802" xyz="-0.01460212 0.00187106 -0.00404494"/>
827
+ <geometry>
828
+ <capsule length="0.01" radius="0.0075"/>
829
+ </geometry> -->
830
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
831
+ <geometry>
832
+ <mesh filename="meshes/rfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
833
+ </geometry>
834
+ <material name="">
835
+ <contact name="finger"/>
836
+ </material>
837
+ </collision>
838
+ <visual>
839
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
840
+ <geometry>
841
+ <mesh filename="meshes/rfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
842
+ </geometry>
843
+ <material name="hand_color"/>
844
+ </visual>
845
+ </link>
846
+ <!-- RF0 joint -->
847
+ <joint name="RFJ0" type="revolute">
848
+ <parent link="link_rf_md_z"/>
849
+ <child link="rfdistal"/>
850
+ <origin xyz="-0.022360937669873238 -0.0016048861434683204 -0.007257472723722458"/>
851
+ <axis xyz="1 0 0"/>
852
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
853
+
854
+ <dynamics damping="1.0" friction="0.0001"/>
855
+ </joint>
856
+ <joint name="RFJ0_y" type="revolute">
857
+ <parent link="rfdistal"/>
858
+ <child link="link_rf_dd_y"/>
859
+ <origin xyz="0.0 0.0 0.0"/>
860
+ <axis xyz="0 1 0"/>
861
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
862
+
863
+ <dynamics damping="1.0" friction="0.0001"/>
864
+ </joint>
865
+ <joint name="RFJ0_z" type="revolute">
866
+ <parent link="link_rf_dd_y"/>
867
+ <child link="link_rf_dd_z"/>
868
+ <origin xyz="0.0 0.0 0.0"/>
869
+ <axis xyz="0 0 1"/>
870
+ <limit effort="1000" lower="-0.000" upper="1.57" />
871
+
872
+ <dynamics damping="1.0" friction="0.0001"/>
873
+ </joint>
874
+
875
+ <link name="link_rftip">
876
+ <inertial>
877
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
878
+ <mass value="0.00000"/>
879
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
880
+ </inertial>
881
+ </link>
882
+ <!-- Fix Finger joint -->
883
+ <joint name="RFTip" type="fixed">
884
+ <parent link="link_rf_dd_z"/>
885
+ <child link="link_rftip"/>
886
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
887
+ </joint>
888
+
889
+ <!-- LF -->
890
+ <link name="lffixed">
891
+ <inertial>
892
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
893
+ <mass value="0.0"/>
894
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
895
+ </inertial>
896
+ </link>
897
+ <!-- Fix Finger joint -->
898
+ <joint name="Palm_LFJ2" type="fixed">
899
+ <parent link="link_palm_rz"/>
900
+ <child link="lffixed"/>
901
+ <origin xyz="0.0 0.0 0.0"/>
902
+ </joint>
903
+
904
+
905
+ <link name="lfproximal">
906
+ <inertial>
907
+ <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
908
+ <mass value="0.00416"/>
909
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
910
+ </inertial>
911
+ </link>
912
+ <link name="link_lf_pm_y">
913
+ <inertial>
914
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
915
+ <mass value="0.00000"/>
916
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
917
+ </inertial>
918
+ </link>
919
+ <link name="link_lf_pm_z">
920
+ <inertial>
921
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
922
+ <mass value="0.00000"/>
923
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
924
+ </inertial>
925
+ <collision>
926
+ <!-- <origin rpy="0.00494643 0.93721839 0.00250398" xyz="-8.50720331e-03 3.09124589e-05 -6.24939241e-03"/>
927
+ <geometry>
928
+ <capsule length="0.0211119273571839" radius="0.009"/>
929
+ </geometry> -->
930
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
931
+ <geometry>
932
+ <mesh filename="meshes/lfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
933
+ </geometry>
934
+ <material name="">
935
+ <contact name="finger"/>
936
+ </material>
937
+ </collision>
938
+ <visual>
939
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
940
+ <geometry>
941
+ <mesh filename="meshes/lfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
942
+ </geometry>
943
+ <material name="hand_color"/>
944
+ </visual>
945
+ </link>
946
+ <!-- LF2 proximal joint -->
947
+ <joint name="LFJ2" type="revolute">
948
+ <parent link="lffixed"/>
949
+ <child link="lfproximal"/>
950
+ <origin xyz="-0.06539570540189743 -0.009450271725654602 -0.041079081594944"/>
951
+ <axis xyz="1 0 0"/>
952
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
953
+
954
+ <dynamics damping="1.0" friction="0.0001"/>
955
+ </joint>
956
+ <joint name="LFJ2_y" type="revolute">
957
+ <parent link="lfproximal"/>
958
+ <child link="link_lf_pm_y"/>
959
+ <origin xyz="0.0 0.0 0.0"/>
960
+ <axis xyz="0 1 0"/>
961
+ <limit effort="1000" lower="-0.8" upper="0.8" />
962
+
963
+ <dynamics damping="1.0" friction="0.0001"/>
964
+ </joint>
965
+ <joint name="LFJ2_z" type="revolute">
966
+ <parent link="link_lf_pm_y"/>
967
+ <child link="link_lf_pm_z"/>
968
+ <origin xyz="0.0 0.0 0.0"/>
969
+ <axis xyz="0 0 1"/>
970
+ <limit effort="1000" lower="-0.0" upper="1.57" />
971
+
972
+ <dynamics damping="1.0" friction="0.0001"/>
973
+ </joint>
974
+
975
+ <link name="lfmiddle">
976
+ <inertial>
977
+ <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
978
+ <mass value="0.00269"/>
979
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
980
+ </inertial>
981
+ </link>
982
+ <link name="link_lf_md_y">
983
+ <inertial>
984
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
985
+ <mass value="0.00000"/>
986
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
987
+ </inertial>
988
+ </link>
989
+ <link name="link_lf_md_z">
990
+ <inertial>
991
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
992
+ <mass value="0.00000"/>
993
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
994
+ </inertial>
995
+ <collision>
996
+ <!-- <origin rpy="-0.06679566 0.99258405 -0.0361792" xyz="-0.00793345 -0.00034558 -0.00516596"/>
997
+ <geometry>
998
+ <capsule length="0.018946892889554656" radius="0.0075"/>
999
+ </geometry> -->
1000
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1001
+ <geometry>
1002
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
1003
+ </geometry>
1004
+ <material name="">
1005
+ <contact name="finger"/>
1006
+ </material>
1007
+ </collision>
1008
+ <visual>
1009
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1010
+ <geometry>
1011
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
1012
+ </geometry>
1013
+ <material name="hand_color"/>
1014
+ </visual>
1015
+ </link>
1016
+ <!-- LF1 joint -->
1017
+ <joint name="LFJ1" type="revolute">
1018
+ <parent link="link_lf_pm_z"/>
1019
+ <child link="lfmiddle"/>
1020
+ <origin xyz="-0.016175588592886925 5.8776935475179926e-05 -0.011882608756422997"/>
1021
+ <axis xyz="1 0 0"/>
1022
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1023
+
1024
+ <dynamics damping="1.0" friction="0.0001"/>
1025
+ </joint>
1026
+ <joint name="LFJ1_y" type="revolute">
1027
+ <parent link="lfmiddle"/>
1028
+ <child link="link_lf_md_y"/>
1029
+ <origin xyz="0.0 0.0 0.0"/>
1030
+ <axis xyz="0 1 0"/>
1031
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1032
+
1033
+ <dynamics damping="1.0" friction="0.0001"/>
1034
+ </joint>
1035
+ <joint name="LFJ1_z" type="revolute">
1036
+ <parent link="link_lf_md_y"/>
1037
+ <child link="link_lf_md_z"/>
1038
+ <origin xyz="0.0 0.0 0.0"/>
1039
+ <axis xyz="0 0 1"/>
1040
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1041
+
1042
+ <dynamics damping="1.0" friction="0.0001"/>
1043
+ </joint>
1044
+
1045
+ <link name="lfdistal">
1046
+ <inertial>
1047
+ <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
1048
+ <mass value="0.00150"/>
1049
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1050
+ </inertial>
1051
+ </link>
1052
+ <link name="link_lf_dd_y">
1053
+ <inertial>
1054
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1055
+ <mass value="0.00000"/>
1056
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1057
+ </inertial>
1058
+ </link>
1059
+ <link name="link_lf_dd_z">
1060
+ <inertial>
1061
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1062
+ <mass value="0.00000"/>
1063
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1064
+ </inertial>
1065
+ <collision>
1066
+ <!-- <origin rpy="0.22194785 1.02909336 0.12582808" xyz="-0.00977975 0.00129545 -0.00574058"/>
1067
+ <geometry>
1068
+ <capsule length="0.007" radius="0.0065"/>
1069
+ </geometry> -->
1070
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1071
+ <geometry>
1072
+ <mesh filename="meshes/lfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
1073
+ </geometry>
1074
+ <material name="">
1075
+ <contact name="finger"/>
1076
+ </material>
1077
+ </collision>
1078
+ <visual>
1079
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1080
+ <geometry>
1081
+ <mesh filename="meshes/lfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
1082
+ </geometry>
1083
+ <material name="hand_color"/>
1084
+ </visual>
1085
+ </link>
1086
+ <!-- LF0 joint -->
1087
+ <joint name="LFJ0" type="revolute">
1088
+ <parent link="link_lf_md_z"/>
1089
+ <child link="lfdistal"/>
1090
+ <origin xyz="-0.015084661543369293 -0.0006570810219272971 -0.009822537191212177"/>
1091
+ <axis xyz="1 0 0"/>
1092
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1093
+
1094
+ <dynamics damping="1.0" friction="0.0001"/>
1095
+ </joint>
1096
+ <joint name="LFJ0_y" type="revolute">
1097
+ <parent link="lfdistal"/>
1098
+ <child link="link_lf_dd_y"/>
1099
+ <origin xyz="0.0 0.0 0.0"/>
1100
+ <axis xyz="0 1 0"/>
1101
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1102
+
1103
+ <dynamics damping="1.0" friction="0.0001"/>
1104
+ </joint>
1105
+ <joint name="LFJ0_z" type="revolute">
1106
+ <parent link="link_lf_dd_y"/>
1107
+ <child link="link_lf_dd_z"/>
1108
+ <origin xyz="0.0 0.0 0.0"/>
1109
+ <axis xyz="0 0 1"/>
1110
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1111
+
1112
+ <dynamics damping="1.0" friction="0.0001"/>
1113
+ </joint>
1114
+ <link name="link_lftip">
1115
+ <inertial>
1116
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1117
+ <mass value="0.00000"/>
1118
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1119
+ </inertial>
1120
+ </link>
1121
+ <!-- Fix Finger joint -->
1122
+ <joint name="LFTip" type="fixed">
1123
+ <parent link="link_lf_dd_z"/>
1124
+ <child link="link_lftip"/>
1125
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
1126
+ </joint>
1127
+
1128
+
1129
+ <!-- TH -->
1130
+ <link name="thfixed">
1131
+ <inertial>
1132
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1133
+ <mass value="0.0"/>
1134
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1135
+ </inertial>
1136
+ </link>
1137
+ <!-- Fix Finger joint -->
1138
+ <joint name="Palm_THJ2" type="fixed">
1139
+ <parent link="link_palm_rz"/>
1140
+ <child link="thfixed"/>
1141
+ <origin xyz="0.0 0.0 0.0"/>
1142
+ </joint>
1143
+
1144
+
1145
+ <link name="thproximal">
1146
+ <inertial>
1147
+ <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
1148
+ <mass value="0.01392"/>
1149
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1150
+ </inertial>
1151
+ </link>
1152
+ <link name="link_th_pm_y">
1153
+ <inertial>
1154
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1155
+ <mass value="0.00000"/>
1156
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1157
+ </inertial>
1158
+ </link>
1159
+ <link name="link_th_pm_z">
1160
+ <inertial>
1161
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1162
+ <mass value="0.00000"/>
1163
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1164
+ </inertial>
1165
+ <collision>
1166
+ <!-- <origin rpy="3.10400265 0.69148607 3.03731965" xyz="-0.00981662 0.00044564 0.01184977"/>
1167
+ <geometry>
1168
+ <capsule length="0.030788427516318044" radius="0.01"/>
1169
+ </geometry> -->
1170
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1171
+ <geometry>
1172
+ <mesh filename="meshes/thprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
1173
+ </geometry>
1174
+ </collision>
1175
+ <material name="">
1176
+ <contact name="finger"/>
1177
+ </material>
1178
+ <visual>
1179
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1180
+ <geometry>
1181
+ <mesh filename="meshes/thprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
1182
+ </geometry>
1183
+ <material name="hand_color"/>
1184
+ </visual>
1185
+ </link>
1186
+ <!-- TH2 proximal joint -->
1187
+ <joint name="THJ2" type="revolute">
1188
+ <parent link="thfixed"/>
1189
+ <child link="thproximal"/>
1190
+ <origin xyz="-0.022902077063918114 -0.014757050201296806 0.02454022690653801"/>
1191
+ <axis xyz="1 0 0"/>
1192
+ <limit effort="1000" lower="-3.14" upper="3.14" />
1193
+ <dynamics damping="1.0" friction="0.0001"/>
1194
+ </joint>
1195
+ <joint name="THJ2_y" type="revolute">
1196
+ <parent link="thproximal"/>
1197
+ <child link="link_th_pm_y"/>
1198
+ <origin xyz="0.0 0.0 0.0"/>
1199
+ <axis xyz="0 1 0"/>
1200
+ <limit effort="1000" lower="-3.14" upper="3.14" />
1201
+ <dynamics damping="1.0" friction="0.0001"/>
1202
+ </joint>
1203
+ <joint name="THJ2_z" type="revolute">
1204
+ <parent link="link_th_pm_y"/>
1205
+ <child link="link_th_pm_z"/>
1206
+ <origin xyz="0.0 0.0 0.0"/>
1207
+ <axis xyz="0 0 1"/>
1208
+ <limit effort="1000" lower="-3.14" upper="3.14" />
1209
+ <dynamics damping="1.0" friction="0.0001"/>
1210
+ </joint>
1211
+
1212
+ <link name="thmiddle">
1213
+ <inertial>
1214
+ <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
1215
+ <mass value="0.00802"/>
1216
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1217
+ </inertial>
1218
+ </link>
1219
+ <link name="link_th_md_y">
1220
+ <inertial>
1221
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1222
+ <mass value="0.00000"/>
1223
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1224
+ </inertial>
1225
+ </link>
1226
+ <link name="link_th_md_z">
1227
+ <inertial>
1228
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1229
+ <mass value="0.00000"/>
1230
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1231
+ </inertial>
1232
+ <collision>
1233
+ <!-- <origin rpy=" -2.78364168 0.96144328 -2.47379542" xyz="-0.01110887 -0.00271648 0.00726206"/>
1234
+ <geometry>
1235
+ <capsule length="0.02709418497996566" radius="0.01"/>
1236
+ </geometry> -->
1237
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1238
+ <geometry>
1239
+ <mesh filename="meshes/thmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
1240
+ </geometry>
1241
+ <material name="">
1242
+ <contact name="finger"/>
1243
+ </material>
1244
+ </collision>
1245
+ <visual>
1246
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1247
+ <geometry>
1248
+ <mesh filename="meshes/thmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
1249
+ </geometry>
1250
+ <material name="hand_color"/>
1251
+ </visual>
1252
+ </link>
1253
+ <!-- TH1 joint -->
1254
+ <joint name="THJ1" type="revolute">
1255
+ <parent link="link_th_pm_z"/>
1256
+ <child link="thmiddle"/>
1257
+ <origin xyz="-0.018665282055735588 0.0008473455673083663 0.022531114518642426"/>
1258
+ <axis xyz="1 0 0"/>
1259
+ <limit effort="1000" lower="-3.14" upper="3.14" />
1260
+ <dynamics damping="1.0" friction="0.0001"/>
1261
+ </joint>
1262
+ <joint name="THJ1_y" type="revolute">
1263
+ <parent link="thmiddle"/>
1264
+ <child link="link_th_md_y"/>
1265
+ <origin xyz="0.0 0.0 0.0"/>
1266
+ <axis xyz="0 1 0"/>
1267
+ <limit effort="1000" lower="-3.14" upper="3.14" />
1268
+ <dynamics damping="1.0" friction="0.0001"/>
1269
+ </joint>
1270
+ <joint name="THJ1_z" type="revolute">
1271
+ <parent link="link_th_md_y"/>
1272
+ <child link="link_th_md_z"/>
1273
+ <origin xyz="0.0 0.0 0.0"/>
1274
+ <axis xyz="0 0 1"/>
1275
+ <limit effort="1000" lower="-3.14" upper="3.14" />
1276
+ <dynamics damping="1.0" friction="0.0001"/>
1277
+ </joint>
1278
+
1279
+ <link name="thdistal">
1280
+ <inertial>
1281
+ <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
1282
+ <mass value="0.00726"/>
1283
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1284
+ </inertial>
1285
+ </link>
1286
+ <link name="link_th_dd_y">
1287
+ <inertial>
1288
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1289
+ <mass value="0.00000"/>
1290
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1291
+ </inertial>
1292
+ </link>
1293
+ <link name="link_th_dd_z">
1294
+ <inertial>
1295
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1296
+ <mass value="0.00000"/>
1297
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1298
+ </inertial>
1299
+ <collision>
1300
+ <!-- <origin rpy="-2.83317999 0.97259243 -2.56963586" xyz="-0.01577465 -0.00326327 0.01024323"/>
1301
+ <geometry>
1302
+ <capsule length="0.02" radius="0.01"/>
1303
+ </geometry> -->
1304
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1305
+ <geometry>
1306
+ <mesh filename="meshes/thdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
1307
+ </geometry>
1308
+ <material name="">
1309
+ <contact name="finger"/>
1310
+ </material>
1311
+ </collision>
1312
+ <visual>
1313
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1314
+ <geometry>
1315
+ <mesh filename="meshes/thdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
1316
+ </geometry>
1317
+ <material name="hand_color"/>
1318
+ </visual>
1319
+ </link>
1320
+ <!-- TH0 joint -->
1321
+ <joint name="THJ0" type="revolute">
1322
+ <parent link="link_th_md_z"/>
1323
+ <child link="thdistal"/>
1324
+ <origin xyz="-0.021122368052601814 -0.00516512431204319 0.013808062300086021"/>
1325
+ <axis xyz="1 0 0"/>
1326
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1327
+ <dynamics damping="1.0" friction="0.0001"/>
1328
+ </joint>
1329
+ <joint name="THJ0_y" type="revolute">
1330
+ <parent link="thdistal"/>
1331
+ <child link="link_th_dd_y"/>
1332
+ <origin xyz="0.0 0.0 0.0"/>
1333
+ <axis xyz="0 1 0"/>
1334
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1335
+
1336
+ <dynamics damping="1.0" friction="0.0001"/>
1337
+ </joint>
1338
+ <joint name="THJ0_z" type="revolute">
1339
+ <parent link="link_th_dd_y"/>
1340
+ <child link="link_th_dd_z"/>
1341
+ <origin xyz="0.0 0.0 0.0"/>
1342
+ <axis xyz="0 0 1"/>
1343
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1344
+
1345
+ <dynamics damping="1.0" friction="0.0001"/>
1346
+ </joint>
1347
+ <link name="link_thtip">
1348
+ <inertial>
1349
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1350
+ <mass value="0.00000"/>
1351
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1352
+ </inertial>
1353
+ </link>
1354
+ <!-- Fix Finger joint -->
1355
+ <joint name="THTip" type="fixed">
1356
+ <parent link="link_th_dd_z"/>
1357
+ <child link="link_thtip"/>
1358
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1359
+ </joint>
1360
+
1361
+
1362
+ </robot>
rsc/mano/mano_mean_wcollision_scaled_scaled_0_9507_nroot.urdf ADDED
@@ -0,0 +1,1357 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="0.0" ?>
2
+ <robot name="mano">
3
+
4
+
5
+ <material name="hand_color">
6
+ <color rgba="0.91796875 0.765 0.5234 1"/>
7
+ </material>
8
+ <!-- <link name="world"> </link> -->
9
+
10
+ <!-- <joint name="world_to_base" type="fixed">
11
+ <axis xyz="0 0 0"/>
12
+ <origin xyz="0.0 0.0 0.0"/>
13
+ <parent link="world"/>
14
+ <child link="sliderBar"/>
15
+ </joint> -->
16
+
17
+ <!-- <link name="sliderBar">
18
+ <inertial>
19
+ <mass value="0"/>
20
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
21
+ </inertial>
22
+ </link> -->
23
+
24
+ <!--
25
+ Palm
26
+ -->
27
+ <!-- Palm -->
28
+ <!-- <link name="palm">
29
+ <inertial>
30
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
31
+ <mass value="0.25042"/>
32
+ <inertia ixx="0.00043" ixy="0" ixz="0" iyy="0.00029" iyz="0" izz="0.00020"/>
33
+ </inertial>
34
+ </link>
35
+
36
+ <link name="link_palm_y">
37
+ <inertial>
38
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
39
+ <mass value="0.00000"/>
40
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
41
+ </inertial>
42
+ </link>
43
+ <link name="link_palm_z">
44
+ <inertial>
45
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
46
+ <mass value="0.00000"/>
47
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
48
+ </inertial>
49
+ </link>
50
+ <link name="link_palm_rx">
51
+ <inertial>
52
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
53
+ <mass value="0.00000"/>
54
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
55
+ </inertial>
56
+ </link>
57
+ <link name="link_palm_ry">
58
+ <inertial>
59
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
60
+ <mass value="0.00000"/>
61
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
62
+ </inertial>
63
+ </link> -->
64
+ <link name="palm">
65
+ <inertial>
66
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
67
+ <mass value="0.00000"/>
68
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
69
+ </inertial>
70
+ <visual>
71
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
72
+ <geometry>
73
+ <mesh filename="meshes/palm_mean.stl" scale="0.9507 0.9507 0.9507"/>
74
+ </geometry>
75
+ <material name="hand_color"/>
76
+ </visual>
77
+ <collision>
78
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
79
+ <geometry>
80
+ <mesh filename="meshes/palm_mean.stl" scale="0.9507 0.9507 0.9507"/>
81
+ </geometry>
82
+ <material name="">
83
+ <contact name="finger"/>
84
+ </material>
85
+ </collision>
86
+ <!-- <collision>
87
+ <origin rpy="-2.61505 0.70030 -1.87000" xyz="-0.01187 -0.00708 0.01218"/>
88
+ <geometry>
89
+ <capsule length="0.03684" radius="0.015"/>
90
+ </geometry>
91
+ <material name="">
92
+ <contact name="finger"/>
93
+ </material>
94
+ </collision> -->
95
+ </link>
96
+ <!-- <joint name="WRJ0x" type="prismatic">
97
+ <parent link="sliderBar"/>
98
+ <child link="palm"/>
99
+ <origin xyz="0.0 0.0 0.0"/>
100
+ <axis xyz="1 0 0"/>
101
+ <limit effort="100.0" lower="-2" upper="2" />
102
+ <dynamics damping="10.0" friction="0.0001"/>
103
+ </joint>
104
+ <joint name="WRJ0y" type="prismatic">
105
+ <parent link="palm"/>
106
+ <child link="link_palm_y"/>
107
+ <origin xyz="0.0 0.0 0.0"/>
108
+ <axis xyz="0 1 0"/>
109
+ <limit effort="100.0" lower="-2" upper="2" />
110
+ <dynamics damping="10.0" friction="0.0001"/>
111
+ </joint>
112
+ <joint name="WRJ0z" type="prismatic">
113
+ <parent link="link_palm_y"/>
114
+ <child link="link_palm_z"/>
115
+ <origin xyz="0.0 0.0 0.0"/>
116
+ <axis xyz="0 0 1"/>
117
+ <limit effort="100.0" lower="-2" upper="2"/>
118
+ <dynamics damping="10.0" friction="0.0001"/>
119
+ </joint>
120
+ <joint name="WRJ0rx" type="revolute">
121
+ <parent link="link_palm_z"/>
122
+ <child link="link_palm_rx"/>
123
+ <origin xyz="0.0 0.0 0.0"/>
124
+ <axis xyz="1 0 0"/>
125
+ <limit effort="1000" lower="-3.14" upper="3.14" />
126
+
127
+ <dynamics damping="1.0" friction="0.0001"/>
128
+ </joint>
129
+ <joint name="WRJ0ry" type="revolute">
130
+ <parent link="link_palm_rx"/>
131
+ <child link="link_palm_ry"/>
132
+ <origin xyz="0.0 0.0 0.0"/>
133
+ <axis xyz="0 1 0"/>
134
+ <limit effort="1000" lower="-3.14" upper="3.14" />
135
+
136
+ <dynamics damping="1.0" friction="0.0001"/>
137
+ </joint>
138
+ <joint name="WRJ0rz" type="revolute">
139
+ <parent link="link_palm_ry"/>
140
+ <child link="palm"/>
141
+ <origin xyz="0.0 0.0 0.0"/>
142
+ <axis xyz="0 0 1"/>
143
+ <limit effort="1000" lower="-3.14" upper="3.14" />
144
+ <dynamics damping="1.0" friction="0.0001"/>
145
+ </joint> -->
146
+
147
+
148
+ <!-- FF -->
149
+ <link name="fffixed">
150
+ <inertial>
151
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
152
+ <mass value="0.0"/>
153
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
154
+ </inertial>
155
+ </link>
156
+ <!-- Fix Finger joint -->
157
+ <joint name="Palm_FFJ2" type="fixed">
158
+ <parent link="palm"/>
159
+ <child link="fffixed"/>
160
+ <origin xyz="0.0 0.0 0.0"/>
161
+ </joint>
162
+
163
+
164
+ <link name="ffproximal">
165
+ <inertial>
166
+ <origin rpy="-0.62614 -1.47063 -2.57808" xyz="0.06969 0.00857 -0.01920"/>
167
+ <mass value="0.00845"/>
168
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
169
+ </inertial>
170
+ </link>
171
+ <link name="link_ff_pm_y">
172
+ <inertial>
173
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
174
+ <mass value="0.00000"/>
175
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
176
+ </inertial>
177
+ </link>
178
+ <link name="link_ff_pm_z">
179
+ <inertial>
180
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
181
+ <mass value="0.00000"/>
182
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
183
+ </inertial>
184
+ <collision>
185
+ <!-- <origin rpy="2.0759187 1.43150624 1.94972864" xyz="-0.01633945 0.00200468 0.00110853"/>
186
+ <geometry>
187
+ <capsule length="0.0329984988704395" radius="0.009"/>
188
+ </geometry> -->
189
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
190
+ <geometry>
191
+ <mesh filename="meshes/ffprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
192
+ </geometry>
193
+ <material name="">
194
+ <contact name="finger"/>
195
+ </material>
196
+ </collision>
197
+ <visual>
198
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
199
+ <geometry>
200
+ <mesh filename="meshes/ffprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
201
+ </geometry>
202
+ <material name="hand_color"/>
203
+ </visual>
204
+ </link>
205
+ <!-- FF2 proximal joint -->
206
+ <joint name="FFJ2" type="revolute">
207
+ <parent link="fffixed"/>
208
+ <child link="ffproximal"/>
209
+ <origin xyz="-0.08375400304794312 -0.004943982232362032 0.01966618001461029"/>
210
+ <axis xyz="1 0 0"/>
211
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
212
+
213
+ <dynamics damping="1.0" friction="0.0001"/>
214
+ </joint>
215
+ <joint name="FFJ2_y" type="revolute">
216
+ <parent link="ffproximal"/>
217
+ <child link="link_ff_pm_y"/>
218
+ <origin xyz="0 0 0"/>
219
+ <axis xyz="0 1 0"/>
220
+ <limit effort="1000" lower="-0.8" upper="0.8" />
221
+
222
+ <dynamics damping="1.0" friction="0.0001"/>
223
+ </joint>
224
+ <joint name="FFJ2_z" type="revolute">
225
+ <parent link="link_ff_pm_y"/>
226
+ <child link="link_ff_pm_z"/>
227
+ <origin xyz="0 0 0"/>
228
+ <axis xyz="0 0 1"/>
229
+ <limit effort="1000" lower="-0.0" upper="1.57" />
230
+
231
+ <dynamics damping="1.0" friction="0.0001"/>
232
+ </joint>
233
+
234
+ <link name="ffmiddle_fixed">
235
+ <inertial>
236
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
237
+ <mass value="0.0"/>
238
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
239
+ </inertial>
240
+ </link>
241
+ <link name="ffmiddle">
242
+ <inertial>
243
+ <origin rpy="1.37262 -0.25251 1.73296" xyz="0.10956 0.00102 -0.02288"/>
244
+ <mass value="0.00413"/>
245
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
246
+ </inertial>
247
+ </link>
248
+ <link name="link_ff_md_y">
249
+ <inertial>
250
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
251
+ <mass value="0.00000"/>
252
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
253
+ </inertial>
254
+ </link>
255
+ <link name="link_ff_md_z">
256
+ <inertial>
257
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
258
+ <mass value="0.00000"/>
259
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
260
+ </inertial>
261
+ <collision>
262
+ <!-- <origin rpy="-1.48313839 1.51203433 -1.42475203" xyz="-1.10779554e-02 -6.49210764e-04 -5.70546836e-05"/>
263
+ <geometry>
264
+ <capsule length="0.02219421770877059" radius="0.0075"/>
265
+ </geometry> -->
266
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
267
+ <geometry>
268
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
269
+ </geometry>
270
+ <material name="">
271
+ <contact name="finger"/>
272
+ </material>
273
+ </collision>
274
+ <visual>
275
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
276
+ <geometry>
277
+ <mesh filename="meshes/ffmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
278
+ </geometry>
279
+ <material name="hand_color"/>
280
+ </visual>
281
+ </link>
282
+ <!-- FF1 joint -->
283
+ <joint name="FFJ1_f" type="fixed">
284
+ <parent link="link_ff_pm_z"/>
285
+ <child link="ffmiddle_fixed"/>
286
+ <origin xyz="-0.031067827716469765 0.003811689093708992 0.0021077587734907866"/>
287
+ <axis xyz="1 0 0"/>
288
+ </joint>
289
+ <joint name="FFJ1" type="revolute">
290
+ <parent link="ffmiddle_fixed"/>
291
+ <child link="ffmiddle"/>
292
+ <origin xyz="0.0 0.0 0.0"/>
293
+ <axis xyz="1 0 0"/>
294
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
295
+
296
+ <dynamics damping="1.0" friction="0.0001"/>
297
+ </joint>
298
+ <joint name="FFJ1_y" type="revolute">
299
+ <parent link="ffmiddle"/>
300
+ <child link="link_ff_md_y"/>
301
+ <origin xyz="0.0 0.0 0.0"/>
302
+ <axis xyz="0 1 0"/>
303
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
304
+
305
+ <dynamics damping="1.0" friction="0.0001"/>
306
+ </joint>
307
+ <joint name="FFJ1_z" type="revolute">
308
+ <parent link="link_ff_md_y"/>
309
+ <child link="link_ff_md_z"/>
310
+ <origin xyz="0.0 0.0 0.0"/>
311
+ <axis xyz="0 0 1"/>
312
+ <limit effort="1000" lower="-0.5000" upper="1.57" />
313
+
314
+ <dynamics damping="1.0" friction="0.0001"/>
315
+ </joint>
316
+
317
+ <link name="ffdistal">
318
+ <inertial>
319
+ <origin rpy="1.46564 0.28965 1.52696" xyz="0.13180 0.00199 -0.02293"/>
320
+ <mass value="0.00293"/>
321
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
322
+ </inertial>
323
+ </link>
324
+ <link name="link_ff_dd_y">
325
+ <inertial>
326
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
327
+ <mass value="0.00000"/>
328
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
329
+ </inertial>
330
+ </link>
331
+ <link name="link_ff_dd_z">
332
+ <inertial>
333
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
334
+ <mass value="0.00000"/>
335
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
336
+ </inertial>
337
+ <collision>
338
+ <!-- <origin rpy="2.96610898 1.39582282 2.93259132 " xyz="-0.01163138 0.00035898 0.00202463"/>
339
+ <geometry>
340
+ <capsule length="0.015" radius="0.0075"/>
341
+ </geometry> -->
342
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
343
+ <geometry>
344
+ <mesh filename="meshes/ffdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
345
+ </geometry>
346
+ <material name="">
347
+ <contact name="finger"/>
348
+ </material>
349
+ </collision>
350
+ <visual>
351
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
352
+ <geometry>
353
+ <mesh filename="meshes/ffdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
354
+ </geometry>
355
+ <material name="hand_color"/>
356
+ </visual>
357
+ </link>
358
+ <!-- FF1 joint -->
359
+ <joint name="FFJ0" type="revolute">
360
+ <parent link="link_ff_md_z"/>
361
+ <child link="ffdistal"/>
362
+ <origin xyz="-0.021063612774014473 -0.0012344078859314322 -0.00010848342935787514"/>
363
+ <axis xyz="1 0 0"/>
364
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
365
+
366
+ <dynamics damping="1.0" friction="0.0001"/>
367
+ </joint>
368
+ <joint name="FFJ0_y" type="revolute">
369
+ <parent link="ffdistal"/>
370
+ <child link="link_ff_dd_y"/>
371
+ <origin xyz="0.0 0.0 0.0"/>
372
+ <axis xyz="0 1 0"/>
373
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
374
+
375
+ <dynamics damping="1.0" friction="0.0001"/>
376
+ </joint>
377
+ <joint name="FFJ0_z" type="revolute">
378
+ <parent link="link_ff_dd_y"/>
379
+ <child link="link_ff_dd_z"/>
380
+ <origin xyz="0.0 0.0 0.0"/>
381
+ <axis xyz="0 0 1"/>
382
+ <limit effort="1000" lower="-0.000" upper="1.57" />
383
+
384
+ <dynamics damping="1.0" friction="0.0001"/>
385
+ </joint>
386
+
387
+ <link name="link_fftip">
388
+ <inertial>
389
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
390
+ <mass value="0.00000"/>
391
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
392
+ </inertial>
393
+ </link>
394
+ <!-- Fix Finger joint -->
395
+ <joint name="FFTip" type="fixed">
396
+ <parent link="link_ff_dd_z"/>
397
+ <child link="link_fftip"/>
398
+ <origin xyz="-0.02326277 0.00071796 0.00404926"/>
399
+ </joint>
400
+
401
+ <!-- MF -->
402
+ <link name="mffixed">
403
+ <inertial>
404
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
405
+ <mass value="0.0"/>
406
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
407
+ </inertial>
408
+ </link>
409
+ <!-- Fix Finger joint -->
410
+ <joint name="Palm_MFJ2" type="fixed">
411
+ <parent link="palm"/>
412
+ <child link="mffixed"/>
413
+ <origin xyz="0.0 0.0 0.0"/>
414
+ </joint>
415
+
416
+
417
+ <link name="mfproximal">
418
+ <inertial>
419
+ <origin rpy="1.32892 0.20760 1.52264" xyz="0.08062 0.00385 0.00038"/>
420
+ <mass value="0.00996"/>
421
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
422
+ </inertial>
423
+ </link>
424
+ <link name="link_mf_pm_y">
425
+ <inertial>
426
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
427
+ <mass value="0.00000"/>
428
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
429
+ </inertial>
430
+ </link>
431
+ <link name="link_mf_pm_z">
432
+ <inertial>
433
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
434
+ <mass value="0.00000"/>
435
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
436
+ </inertial>
437
+ <collision>
438
+ <!-- <origin rpy="0.32118629 1.38392244 0.26686409" xyz="-0.01559134 0.00093066 -0.00279725"/>
439
+ <geometry>
440
+ <capsule length="0.031735191602453826" radius="0.009"/>
441
+ </geometry> -->
442
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
443
+ <geometry>
444
+ <mesh filename="meshes/mfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
445
+ </geometry>
446
+ <material name="">
447
+ <contact name="finger"/>
448
+ </material>
449
+ </collision>
450
+ <visual>
451
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
452
+ <geometry>
453
+ <mesh filename="meshes/mfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
454
+ </geometry>
455
+ <material name="hand_color"/>
456
+ </visual>
457
+
458
+ </link>
459
+ <!-- MF2 proximal joint -->
460
+ <joint name="MFJ2" type="revolute">
461
+ <parent link="mffixed"/>
462
+ <child link="mfproximal"/>
463
+ <origin xyz="-0.08999364078044891 -0.001406047260388732 -0.003192013129591942"/>
464
+ <axis xyz="1 0 0"/>
465
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
466
+
467
+ <dynamics damping="1.0" friction="0.0001"/>
468
+ </joint>
469
+ <joint name="MFJ2_y" type="revolute">
470
+ <parent link="mfproximal"/>
471
+ <child link="link_mf_pm_y"/>
472
+ <origin xyz="0.0 0.0 0.0"/>
473
+ <axis xyz="0 1 0"/>
474
+ <limit effort="1000" lower="-0.8" upper="0.8" />
475
+
476
+ <dynamics damping="1.0" friction="0.0001"/>
477
+ </joint>
478
+ <joint name="MFJ2_z" type="revolute">
479
+ <parent link="link_mf_pm_y"/>
480
+ <child link="link_mf_pm_z"/>
481
+ <origin xyz="0.0 0.0 0.0"/>
482
+ <axis xyz="0 0 1"/>
483
+ <limit effort="1000" lower="-0.0" upper="1.57" />
484
+
485
+ <dynamics damping="1.0" friction="0.0001"/>
486
+ </joint>
487
+
488
+ <link name="mfmiddle">
489
+ <inertial>
490
+ <origin rpy="1.36785 0.19063 1.79335" xyz="0.11276 -0.00059 0.00674"/>
491
+ <mass value="0.00400"/>
492
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
493
+ </inertial>
494
+ </link>
495
+ <link name="link_mf_md_y">
496
+ <inertial>
497
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
498
+ <mass value="0.00000"/>
499
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
500
+ </inertial>
501
+ </link>
502
+ <link name="link_mf_md_z">
503
+ <inertial>
504
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
505
+ <mass value="0.00000"/>
506
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
507
+ </inertial>
508
+ <collision>
509
+ <!-- <origin rpy="-0.30736925 1.39204219 -0.25742004" xyz="-0.01145232 -0.00062605 -0.00197226"/>
510
+ <geometry>
511
+ <capsule length="0.023275522107771795" radius="0.0075"/>
512
+ </geometry> -->
513
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
514
+ <geometry>
515
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
516
+ </geometry>
517
+ <material name="">
518
+ <contact name="finger"/>
519
+ </material>
520
+ </collision>
521
+ <visual>
522
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
523
+ <geometry>
524
+ <mesh filename="meshes/mfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
525
+ </geometry>
526
+ <material name="hand_color"/>
527
+ </visual>
528
+ </link>
529
+ <!-- MF1 joint -->
530
+ <joint name="MFJ1" type="revolute">
531
+ <parent link="link_mf_pm_z"/>
532
+ <child link="mfmiddle"/>
533
+ <origin xyz="-0.029645392671227455 0.0017695664428174496 -0.005318700801581144"/>
534
+ <axis xyz="1 0 0"/>
535
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
536
+
537
+ <dynamics damping="1.0" friction="0.0001"/>
538
+ </joint>
539
+ <joint name="MFJ1_y" type="revolute">
540
+ <parent link="mfmiddle"/>
541
+ <child link="link_mf_md_y"/>
542
+ <origin xyz="0.0 0.0 0.0"/>
543
+ <axis xyz="0 1 0"/>
544
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
545
+
546
+ <dynamics damping="1.0" friction="0.0001"/>
547
+ </joint>
548
+ <joint name="MFJ1_z" type="revolute">
549
+ <parent link="link_mf_md_y"/>
550
+ <child link="link_mf_md_z"/>
551
+ <origin xyz="0.0 0.0 0.0"/>
552
+ <axis xyz="0 0 1"/>
553
+ <limit effort="1000" lower="-0.000" upper="1.57" />
554
+
555
+ <dynamics damping="1.0" friction="0.0001"/>
556
+ </joint>
557
+
558
+ <link name="mfdistal">
559
+ <inertial>
560
+ <origin rpy="1.31977 0.24217 1.38225" xyz="0.13534 0.00074 0.01081"/>
561
+ <mass value="0.00289"/>
562
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
563
+ </inertial>
564
+ </link>
565
+ <link name="link_mf_dd_y">
566
+ <inertial>
567
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
568
+ <mass value="0.00000"/>
569
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
570
+ </inertial>
571
+ </link>
572
+ <link name="link_mf_dd_z">
573
+ <inertial>
574
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
575
+ <mass value="0.00000"/>
576
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
577
+ </inertial>
578
+ <collision>
579
+ <!-- <origin rpy="-0.21855015 1.36348088 -0.17760409" xyz="-0.01551503 -0.00070755 -0.00318577"/>
580
+ <geometry>
581
+ <capsule length="0.01" radius="0.0075"/>
582
+ </geometry> -->
583
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
584
+ <geometry>
585
+ <mesh filename="meshes/mfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
586
+ </geometry>
587
+ <material name="">
588
+ <contact name="finger"/>
589
+ </material>
590
+ </collision>
591
+ <visual>
592
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
593
+ <geometry>
594
+ <mesh filename="meshes/mfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
595
+ </geometry>
596
+ <material name="hand_color"/>
597
+ </visual>
598
+ </link>
599
+ <!-- MF0 joint -->
600
+ <joint name="MFJ0" type="revolute">
601
+ <parent link="link_mf_md_z"/>
602
+ <child link="mfdistal"/>
603
+ <origin xyz="-0.02177540212869644 -0.0011903714621439576 -0.0037500550970435143"/>
604
+ <axis xyz="1 0 0"/>
605
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
606
+
607
+ <dynamics damping="1.0" friction="0.0001"/>
608
+ </joint>
609
+ <joint name="MFJ0_y" type="revolute">
610
+ <parent link="mfdistal"/>
611
+ <child link="link_mf_dd_y"/>
612
+ <origin xyz="0.0 0.0 0.0"/>
613
+ <axis xyz="0 1 0"/>
614
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
615
+
616
+ <dynamics damping="1.0" friction="0.0001"/>
617
+ </joint>
618
+ <joint name="MFJ0_z" type="revolute">
619
+ <parent link="link_mf_dd_y"/>
620
+ <child link="link_mf_dd_z"/>
621
+ <origin xyz="0.0 0.0 0.0"/>
622
+ <axis xyz="0 0 1"/>
623
+ <limit effort="1000" lower="-0.000" upper="1.57" />
624
+
625
+ <dynamics damping="1.0" friction="0.0001"/>
626
+ </joint>
627
+
628
+ <link name="link_mftip">
629
+ <inertial>
630
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
631
+ <mass value="0.00000"/>
632
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
633
+ </inertial>
634
+ </link>
635
+ <!-- Fix Finger joint -->
636
+ <joint name="MFTip" type="fixed">
637
+ <parent link="link_mf_dd_z"/>
638
+ <child link="link_mftip"/>
639
+ <origin xyz="-0.03103006 -0.0014151 -0.00637153"/>
640
+
641
+ </joint>
642
+
643
+ <!-- RF -->
644
+ <link name="rffixed">
645
+ <inertial>
646
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
647
+ <mass value="0.0"/>
648
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
649
+ </inertial>
650
+ </link>
651
+
652
+ <!-- Fix Finger joint -->
653
+ <joint name="Palm_RFJ2" type="fixed">
654
+ <parent link="palm"/>
655
+ <child link="rffixed"/>
656
+ <origin xyz="0.0 0.0 0.0"/>
657
+ </joint>
658
+
659
+
660
+ <link name="rfproximal">
661
+ <inertial>
662
+ <origin rpy="-1.12499 -1.03767 -1.92594" xyz="0.06944 0.00644 0.02597"/>
663
+ <mass value="0.00725"/>
664
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
665
+ </inertial>
666
+ </link>
667
+ <link name="link_rf_pm_y">
668
+ <inertial>
669
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
670
+ <mass value="0.00000"/>
671
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
672
+ </inertial>
673
+ </link>
674
+ <link name="link_rf_pm_z">
675
+ <inertial>
676
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
677
+ <mass value="0.00000"/>
678
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
679
+ </inertial>
680
+ <collision>
681
+ <!-- <origin rpy=" 0.38516311 1.37888284 0.31878467" xyz="-0.01415714 0.0010335 -0.00254927"/>
682
+ <geometry>
683
+ <capsule length="0.028843811919740826" radius="0.009"/>
684
+ </geometry> -->
685
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
686
+ <geometry>
687
+ <mesh filename="meshes/rfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
688
+ </geometry>
689
+ <material name="">
690
+ <contact name="finger"/>
691
+ </material>
692
+ </collision>
693
+ <visual>
694
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
695
+ <geometry>
696
+ <mesh filename="meshes/rfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
697
+ </geometry>
698
+ <material name="hand_color"/>
699
+ </visual>
700
+ </link>
701
+ <!-- RF2 proximal joint -->
702
+ <joint name="RFJ2" type="revolute">
703
+ <parent link="rffixed"/>
704
+ <child link="rfproximal"/>
705
+ <origin xyz="-0.07770593464374542 -0.003762319218367338 -0.025358211249113083"/>
706
+ <axis xyz="1 0 0"/>
707
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
708
+
709
+ <dynamics damping="1.0" friction="0.0001"/>
710
+ </joint>
711
+ <joint name="RFJ2_y" type="revolute">
712
+ <parent link="rfproximal"/>
713
+ <child link="link_rf_pm_y"/>
714
+ <origin xyz="0.0 0.0 0.0"/>
715
+ <axis xyz="0 1 0"/>
716
+ <limit effort="1000" lower="-0.8" upper="0.8" />
717
+
718
+ <dynamics damping="1.0" friction="0.0001"/>
719
+ </joint>
720
+ <joint name="RFJ2_z" type="revolute">
721
+ <parent link="link_rf_pm_y"/>
722
+ <child link="link_rf_pm_z"/>
723
+ <origin xyz="0.0 0.0 0.0"/>
724
+ <axis xyz="0 0 1"/>
725
+ <limit effort="1000" lower="-0.0" upper="1.57" />
726
+
727
+ <dynamics damping="1.0" friction="0.0001"/>
728
+ </joint>
729
+
730
+ <link name="rfmiddle">
731
+ <inertial>
732
+ <origin rpy="1.27220 0.24142 1.59300" xyz="0.09885 0.00150 0.02757"/>
733
+ <mass value="0.00487"/>
734
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
735
+ </inertial>
736
+ </link>
737
+ <link name="link_rf_md_y">
738
+ <inertial>
739
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
740
+ <mass value="0.00000"/>
741
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
742
+ </inertial>
743
+ </link>
744
+ <link name="link_rf_md_z">
745
+ <inertial>
746
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
747
+ <mass value="0.00000"/>
748
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
749
+ </inertial>
750
+ <collision>
751
+ <!-- <origin rpy="-0.21763357 1.24988512 -0.15729772" xyz="-0.01176025 -0.00084406 -0.00381691"/>
752
+ <geometry>
753
+ <capsule length="0.024785865310763495" radius="0.0075"/>
754
+ </geometry> -->
755
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
756
+ <geometry>
757
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
758
+ </geometry>
759
+ <material name="">
760
+ <contact name="finger"/>
761
+ </material>
762
+ </collision>
763
+ <visual>
764
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
765
+ <geometry>
766
+ <mesh filename="meshes/rfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
767
+ </geometry>
768
+ <material name="hand_color"/>
769
+ </visual>
770
+ </link>
771
+ <!-- RF1 joint -->
772
+ <joint name="RFJ1" type="revolute">
773
+ <parent link="link_rf_pm_z"/>
774
+ <child link="rfmiddle"/>
775
+ <origin xyz="-0.026918403804302216 0.0019651062320917845 -0.004847181960940361"/>
776
+ <axis xyz="1 0 0"/>
777
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
778
+
779
+ <dynamics damping="1.0" friction="0.0001"/>
780
+ </joint>
781
+ <joint name="RFJ1_y" type="revolute">
782
+ <parent link="rfmiddle"/>
783
+ <child link="link_rf_md_y"/>
784
+ <origin xyz="0.0 0.0 0.0"/>
785
+ <axis xyz="0 1 0"/>
786
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
787
+
788
+ <dynamics damping="1.0" friction="0.0001"/>
789
+ </joint>
790
+ <joint name="RFJ1_z" type="revolute">
791
+ <parent link="link_rf_md_y"/>
792
+ <child link="link_rf_md_z"/>
793
+ <origin xyz="0.0 0.0 0.0"/>
794
+ <axis xyz="0 0 1"/>
795
+ <limit effort="1000" lower="-0.000" upper="1.57" />
796
+
797
+ <dynamics damping="1.0" friction="0.0001"/>
798
+ </joint>
799
+
800
+ <link name="rfdistal">
801
+ <inertial>
802
+ <origin rpy="1.25957 0.23826 1.45394" xyz="0.12158 0.00349 0.03689"/>
803
+ <mass value="0.00272"/>
804
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
805
+ </inertial>
806
+ </link>
807
+ <link name="link_rf_dd_y">
808
+ <inertial>
809
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
810
+ <mass value="0.00000"/>
811
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
812
+ </inertial>
813
+ </link>
814
+ <link name="link_rf_dd_z">
815
+ <inertial>
816
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
817
+ <mass value="0.00000"/>
818
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
819
+ </inertial>
820
+ <collision>
821
+ <!-- <origin rpy="0.43325752 1.27456581 0.32302802" xyz="-0.01460212 0.00187106 -0.00404494"/>
822
+ <geometry>
823
+ <capsule length="0.01" radius="0.0075"/>
824
+ </geometry> -->
825
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
826
+ <geometry>
827
+ <mesh filename="meshes/rfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
828
+ </geometry>
829
+ <material name="">
830
+ <contact name="finger"/>
831
+ </material>
832
+ </collision>
833
+ <visual>
834
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
835
+ <geometry>
836
+ <mesh filename="meshes/rfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
837
+ </geometry>
838
+ <material name="hand_color"/>
839
+ </visual>
840
+ </link>
841
+ <!-- RF0 joint -->
842
+ <joint name="RFJ0" type="revolute">
843
+ <parent link="link_rf_md_z"/>
844
+ <child link="rfdistal"/>
845
+ <origin xyz="-0.022360937669873238 -0.0016048861434683204 -0.007257472723722458"/>
846
+ <axis xyz="1 0 0"/>
847
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
848
+
849
+ <dynamics damping="1.0" friction="0.0001"/>
850
+ </joint>
851
+ <joint name="RFJ0_y" type="revolute">
852
+ <parent link="rfdistal"/>
853
+ <child link="link_rf_dd_y"/>
854
+ <origin xyz="0.0 0.0 0.0"/>
855
+ <axis xyz="0 1 0"/>
856
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
857
+
858
+ <dynamics damping="1.0" friction="0.0001"/>
859
+ </joint>
860
+ <joint name="RFJ0_z" type="revolute">
861
+ <parent link="link_rf_dd_y"/>
862
+ <child link="link_rf_dd_z"/>
863
+ <origin xyz="0.0 0.0 0.0"/>
864
+ <axis xyz="0 0 1"/>
865
+ <limit effort="1000" lower="-0.000" upper="1.57" />
866
+
867
+ <dynamics damping="1.0" friction="0.0001"/>
868
+ </joint>
869
+
870
+ <link name="link_rftip">
871
+ <inertial>
872
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
873
+ <mass value="0.00000"/>
874
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
875
+ </inertial>
876
+ </link>
877
+ <!-- Fix Finger joint -->
878
+ <joint name="RFTip" type="fixed">
879
+ <parent link="link_rf_dd_z"/>
880
+ <child link="link_rftip"/>
881
+ <origin xyz="-0.02920424 0.00374213 -0.00808987"/>
882
+ </joint>
883
+
884
+ <!-- LF -->
885
+ <link name="lffixed">
886
+ <inertial>
887
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
888
+ <mass value="0.0"/>
889
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
890
+ </inertial>
891
+ </link>
892
+ <!-- Fix Finger joint -->
893
+ <joint name="Palm_LFJ2" type="fixed">
894
+ <parent link="palm"/>
895
+ <child link="lffixed"/>
896
+ <origin xyz="0.0 0.0 0.0"/>
897
+ </joint>
898
+
899
+
900
+ <link name="lfproximal">
901
+ <inertial>
902
+ <origin rpy="0.98931 0.08796 1.53876" xyz="0.06149 0.01115 0.03613"/>
903
+ <mass value="0.00416"/>
904
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
905
+ </inertial>
906
+ </link>
907
+ <link name="link_lf_pm_y">
908
+ <inertial>
909
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
910
+ <mass value="0.00000"/>
911
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
912
+ </inertial>
913
+ </link>
914
+ <link name="link_lf_pm_z">
915
+ <inertial>
916
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
917
+ <mass value="0.00000"/>
918
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
919
+ </inertial>
920
+ <collision>
921
+ <!-- <origin rpy="0.00494643 0.93721839 0.00250398" xyz="-8.50720331e-03 3.09124589e-05 -6.24939241e-03"/>
922
+ <geometry>
923
+ <capsule length="0.0211119273571839" radius="0.009"/>
924
+ </geometry> -->
925
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
926
+ <geometry>
927
+ <mesh filename="meshes/lfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
928
+ </geometry>
929
+ <material name="">
930
+ <contact name="finger"/>
931
+ </material>
932
+ </collision>
933
+ <visual>
934
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
935
+ <geometry>
936
+ <mesh filename="meshes/lfprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
937
+ </geometry>
938
+ <material name="hand_color"/>
939
+ </visual>
940
+ </link>
941
+ <!-- LF2 proximal joint -->
942
+ <joint name="LFJ2" type="revolute">
943
+ <parent link="lffixed"/>
944
+ <child link="lfproximal"/>
945
+ <origin xyz="-0.06539570540189743 -0.009450271725654602 -0.041079081594944"/>
946
+ <axis xyz="1 0 0"/>
947
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
948
+
949
+ <dynamics damping="1.0" friction="0.0001"/>
950
+ </joint>
951
+ <joint name="LFJ2_y" type="revolute">
952
+ <parent link="lfproximal"/>
953
+ <child link="link_lf_pm_y"/>
954
+ <origin xyz="0.0 0.0 0.0"/>
955
+ <axis xyz="0 1 0"/>
956
+ <limit effort="1000" lower="-0.8" upper="0.8" />
957
+
958
+ <dynamics damping="1.0" friction="0.0001"/>
959
+ </joint>
960
+ <joint name="LFJ2_z" type="revolute">
961
+ <parent link="link_lf_pm_y"/>
962
+ <child link="link_lf_pm_z"/>
963
+ <origin xyz="0.0 0.0 0.0"/>
964
+ <axis xyz="0 0 1"/>
965
+ <limit effort="1000" lower="-0.0" upper="1.57" />
966
+
967
+ <dynamics damping="1.0" friction="0.0001"/>
968
+ </joint>
969
+
970
+ <link name="lfmiddle">
971
+ <inertial>
972
+ <origin rpy="0.93554 0.47504 1.36883" xyz="0.07794 0.01096 0.04952"/>
973
+ <mass value="0.00269"/>
974
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
975
+ </inertial>
976
+ </link>
977
+ <link name="link_lf_md_y">
978
+ <inertial>
979
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
980
+ <mass value="0.00000"/>
981
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
982
+ </inertial>
983
+ </link>
984
+ <link name="link_lf_md_z">
985
+ <inertial>
986
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
987
+ <mass value="0.00000"/>
988
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
989
+ </inertial>
990
+ <collision>
991
+ <!-- <origin rpy="-0.06679566 0.99258405 -0.0361792" xyz="-0.00793345 -0.00034558 -0.00516596"/>
992
+ <geometry>
993
+ <capsule length="0.018946892889554656" radius="0.0075"/>
994
+ </geometry> -->
995
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
996
+ <geometry>
997
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
998
+ </geometry>
999
+ <material name="">
1000
+ <contact name="finger"/>
1001
+ </material>
1002
+ </collision>
1003
+ <visual>
1004
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1005
+ <geometry>
1006
+ <mesh filename="meshes/lfmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
1007
+ </geometry>
1008
+ <material name="hand_color"/>
1009
+ </visual>
1010
+ </link>
1011
+ <!-- LF1 joint -->
1012
+ <joint name="LFJ1" type="revolute">
1013
+ <parent link="link_lf_pm_z"/>
1014
+ <child link="lfmiddle"/>
1015
+ <origin xyz="-0.016175588592886925 5.8776935475179926e-05 -0.011882608756422997"/>
1016
+ <axis xyz="1 0 0"/>
1017
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1018
+
1019
+ <dynamics damping="1.0" friction="0.0001"/>
1020
+ </joint>
1021
+ <joint name="LFJ1_y" type="revolute">
1022
+ <parent link="lfmiddle"/>
1023
+ <child link="link_lf_md_y"/>
1024
+ <origin xyz="0.0 0.0 0.0"/>
1025
+ <axis xyz="0 1 0"/>
1026
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1027
+
1028
+ <dynamics damping="1.0" friction="0.0001"/>
1029
+ </joint>
1030
+ <joint name="LFJ1_z" type="revolute">
1031
+ <parent link="link_lf_md_y"/>
1032
+ <child link="link_lf_md_z"/>
1033
+ <origin xyz="0.0 0.0 0.0"/>
1034
+ <axis xyz="0 0 1"/>
1035
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1036
+
1037
+ <dynamics damping="1.0" friction="0.0001"/>
1038
+ </joint>
1039
+
1040
+ <link name="lfdistal">
1041
+ <inertial>
1042
+ <origin rpy="1.07016 0.12658 1.51486" xyz="0.09286 0.00961 0.06201"/>
1043
+ <mass value="0.00150"/>
1044
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1045
+ </inertial>
1046
+ </link>
1047
+ <link name="link_lf_dd_y">
1048
+ <inertial>
1049
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1050
+ <mass value="0.00000"/>
1051
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1052
+ </inertial>
1053
+ </link>
1054
+ <link name="link_lf_dd_z">
1055
+ <inertial>
1056
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1057
+ <mass value="0.00000"/>
1058
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1059
+ </inertial>
1060
+ <collision>
1061
+ <!-- <origin rpy="0.22194785 1.02909336 0.12582808" xyz="-0.00977975 0.00129545 -0.00574058"/>
1062
+ <geometry>
1063
+ <capsule length="0.007" radius="0.0065"/>
1064
+ </geometry> -->
1065
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1066
+ <geometry>
1067
+ <mesh filename="meshes/lfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
1068
+ </geometry>
1069
+ <material name="">
1070
+ <contact name="finger"/>
1071
+ </material>
1072
+ </collision>
1073
+ <visual>
1074
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1075
+ <geometry>
1076
+ <mesh filename="meshes/lfdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
1077
+ </geometry>
1078
+ <material name="hand_color"/>
1079
+ </visual>
1080
+ </link>
1081
+ <!-- LF0 joint -->
1082
+ <joint name="LFJ0" type="revolute">
1083
+ <parent link="link_lf_md_z"/>
1084
+ <child link="lfdistal"/>
1085
+ <origin xyz="-0.015084661543369293 -0.0006570810219272971 -0.009822537191212177"/>
1086
+ <axis xyz="1 0 0"/>
1087
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1088
+
1089
+ <dynamics damping="1.0" friction="0.0001"/>
1090
+ </joint>
1091
+ <joint name="LFJ0_y" type="revolute">
1092
+ <parent link="lfdistal"/>
1093
+ <child link="link_lf_dd_y"/>
1094
+ <origin xyz="0.0 0.0 0.0"/>
1095
+ <axis xyz="0 1 0"/>
1096
+ <limit effort="1000" lower="-0.25000" upper="0.25000" />
1097
+
1098
+ <dynamics damping="1.0" friction="0.0001"/>
1099
+ </joint>
1100
+ <joint name="LFJ0_z" type="revolute">
1101
+ <parent link="link_lf_dd_y"/>
1102
+ <child link="link_lf_dd_z"/>
1103
+ <origin xyz="0.0 0.0 0.0"/>
1104
+ <axis xyz="0 0 1"/>
1105
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1106
+
1107
+ <dynamics damping="1.0" friction="0.0001"/>
1108
+ </joint>
1109
+ <link name="link_lftip">
1110
+ <inertial>
1111
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1112
+ <mass value="0.00000"/>
1113
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1114
+ </inertial>
1115
+ </link>
1116
+ <!-- Fix Finger joint -->
1117
+ <joint name="LFTip" type="fixed">
1118
+ <parent link="link_lf_dd_z"/>
1119
+ <child link="link_lftip"/>
1120
+ <origin xyz="-0.0195595 0.0025909 -0.01148116"/>
1121
+ </joint>
1122
+
1123
+
1124
+ <!-- TH -->
1125
+ <link name="thfixed">
1126
+ <inertial>
1127
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1128
+ <mass value="0.0"/>
1129
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1130
+ </inertial>
1131
+ </link>
1132
+ <!-- Fix Finger joint -->
1133
+ <joint name="Palm_THJ2" type="fixed">
1134
+ <parent link="palm"/>
1135
+ <child link="thfixed"/>
1136
+ <origin xyz="0.0 0.0 0.0"/>
1137
+ </joint>
1138
+
1139
+
1140
+ <link name="thproximal">
1141
+ <inertial>
1142
+ <origin rpy="-1.80697 -0.79472 -1.24970" xyz="0.01872 0.01295 -0.01284"/>
1143
+ <mass value="0.01392"/>
1144
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1145
+ </inertial>
1146
+ </link>
1147
+ <link name="link_th_pm_y">
1148
+ <inertial>
1149
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1150
+ <mass value="0.00000"/>
1151
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1152
+ </inertial>
1153
+ </link>
1154
+ <link name="link_th_pm_z">
1155
+ <inertial>
1156
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1157
+ <mass value="0.00000"/>
1158
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1159
+ </inertial>
1160
+ <collision>
1161
+ <!-- <origin rpy="3.10400265 0.69148607 3.03731965" xyz="-0.00981662 0.00044564 0.01184977"/>
1162
+ <geometry>
1163
+ <capsule length="0.030788427516318044" radius="0.01"/>
1164
+ </geometry> -->
1165
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1166
+ <geometry>
1167
+ <mesh filename="meshes/thprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
1168
+ </geometry>
1169
+ </collision>
1170
+ <material name="">
1171
+ <contact name="finger"/>
1172
+ </material>
1173
+ <visual>
1174
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1175
+ <geometry>
1176
+ <mesh filename="meshes/thprox_mean.stl" scale="0.9507 0.9507 0.9507"/>
1177
+ </geometry>
1178
+ <material name="hand_color"/>
1179
+ </visual>
1180
+ </link>
1181
+ <!-- TH2 proximal joint -->
1182
+ <joint name="THJ2" type="revolute">
1183
+ <parent link="thfixed"/>
1184
+ <child link="thproximal"/>
1185
+ <origin xyz="-0.022902077063918114 -0.014757050201296806 0.02454022690653801"/>
1186
+ <axis xyz="1 0 0"/>
1187
+ <limit effort="1000" lower="0" upper="1.57" />
1188
+ <dynamics damping="1.0" friction="0.0001"/>
1189
+ </joint>
1190
+ <joint name="THJ2_y" type="revolute">
1191
+ <parent link="thproximal"/>
1192
+ <child link="link_th_pm_y"/>
1193
+ <origin xyz="0.0 0.0 0.0"/>
1194
+ <axis xyz="0 1 0"/>
1195
+ <limit effort="1000" lower="-0.8" upper="0.8" />
1196
+ <dynamics damping="1.0" friction="0.0001"/>
1197
+ </joint>
1198
+ <joint name="THJ2_z" type="revolute">
1199
+ <parent link="link_th_pm_y"/>
1200
+ <child link="link_th_pm_z"/>
1201
+ <origin xyz="0.0 0.0 0.0"/>
1202
+ <axis xyz="0 0 1"/>
1203
+ <limit effort="1000" lower="-0.25" upper="0.25" />
1204
+ <dynamics damping="1.0" friction="0.0001"/>
1205
+ </joint>
1206
+
1207
+ <link name="thmiddle">
1208
+ <inertial>
1209
+ <origin rpy="2.09811 -1.08828 1.27625" xyz="0.03297 0.01229 -0.04103"/>
1210
+ <mass value="0.00802"/>
1211
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1212
+ </inertial>
1213
+ </link>
1214
+ <link name="link_th_md_y">
1215
+ <inertial>
1216
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1217
+ <mass value="0.00000"/>
1218
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1219
+ </inertial>
1220
+ </link>
1221
+ <link name="link_th_md_z">
1222
+ <inertial>
1223
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1224
+ <mass value="0.00000"/>
1225
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1226
+ </inertial>
1227
+ <collision>
1228
+ <!-- <origin rpy=" -2.78364168 0.96144328 -2.47379542" xyz="-0.01110887 -0.00271648 0.00726206"/>
1229
+ <geometry>
1230
+ <capsule length="0.02709418497996566" radius="0.01"/>
1231
+ </geometry> -->
1232
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1233
+ <geometry>
1234
+ <mesh filename="meshes/thmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
1235
+ </geometry>
1236
+ <material name="">
1237
+ <contact name="finger"/>
1238
+ </material>
1239
+ </collision>
1240
+ <visual>
1241
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1242
+ <geometry>
1243
+ <mesh filename="meshes/thmiddle_mean.stl" scale="0.9507 0.9507 0.9507"/>
1244
+ </geometry>
1245
+ <material name="hand_color"/>
1246
+ </visual>
1247
+ </link>
1248
+ <!-- TH1 joint -->
1249
+ <joint name="THJ1" type="revolute">
1250
+ <parent link="link_th_pm_z"/>
1251
+ <child link="thmiddle"/>
1252
+ <origin xyz="-0.018665282055735588 0.0008473455673083663 0.022531114518642426"/>
1253
+ <axis xyz="1 0 0"/>
1254
+ <limit effort="1000" lower="-1" upper="1" />
1255
+ <dynamics damping="1.0" friction="0.0001"/>
1256
+ </joint>
1257
+ <joint name="THJ1_y" type="revolute">
1258
+ <parent link="thmiddle"/>
1259
+ <child link="link_th_md_y"/>
1260
+ <origin xyz="0.0 0.0 0.0"/>
1261
+ <axis xyz="0 1 0"/>
1262
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1263
+ <dynamics damping="1.0" friction="0.0001"/>
1264
+ </joint>
1265
+ <joint name="THJ1_z" type="revolute">
1266
+ <parent link="link_th_md_y"/>
1267
+ <child link="link_th_md_z"/>
1268
+ <origin xyz="0.0 0.0 0.0"/>
1269
+ <axis xyz="0 0 1"/>
1270
+ <limit effort="1000" lower="-0.5" upper="0.5" />
1271
+ <dynamics damping="1.0" friction="0.0001"/>
1272
+ </joint>
1273
+
1274
+ <link name="thdistal">
1275
+ <inertial>
1276
+ <origin rpy="2.56484 -0.79342 0.95392" xyz="0.05414 0.01779 -0.05485"/>
1277
+ <mass value="0.00726"/>
1278
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1279
+ </inertial>
1280
+ </link>
1281
+ <link name="link_th_dd_y">
1282
+ <inertial>
1283
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1284
+ <mass value="0.00000"/>
1285
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1286
+ </inertial>
1287
+ </link>
1288
+ <link name="link_th_dd_z">
1289
+ <inertial>
1290
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1291
+ <mass value="0.00000"/>
1292
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1293
+ </inertial>
1294
+ <collision>
1295
+ <!-- <origin rpy="-2.83317999 0.97259243 -2.56963586" xyz="-0.01577465 -0.00326327 0.01024323"/>
1296
+ <geometry>
1297
+ <capsule length="0.02" radius="0.01"/>
1298
+ </geometry> -->
1299
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1300
+ <geometry>
1301
+ <mesh filename="meshes/thdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
1302
+ </geometry>
1303
+ <material name="">
1304
+ <contact name="finger"/>
1305
+ </material>
1306
+ </collision>
1307
+ <visual>
1308
+ <origin rpy="0 0 0.0" xyz="0 0 0"/>
1309
+ <geometry>
1310
+ <mesh filename="meshes/thdist_mean.stl" scale="0.9507 0.9507 0.9507"/>
1311
+ </geometry>
1312
+ <material name="hand_color"/>
1313
+ </visual>
1314
+ </link>
1315
+ <!-- TH0 joint -->
1316
+ <joint name="THJ0" type="revolute">
1317
+ <parent link="link_th_md_z"/>
1318
+ <child link="thdistal"/>
1319
+ <origin xyz="-0.021122368052601814 -0.00516512431204319 0.013808062300086021"/>
1320
+ <axis xyz="1 0 0"/>
1321
+ <limit effort="1000" lower="-0.000" upper="1.57" />
1322
+ <dynamics damping="1.0" friction="0.0001"/>
1323
+ </joint>
1324
+ <joint name="THJ0_y" type="revolute">
1325
+ <parent link="thdistal"/>
1326
+ <child link="link_th_dd_y"/>
1327
+ <origin xyz="0.0 0.0 0.0"/>
1328
+ <axis xyz="0 1 0"/>
1329
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1330
+
1331
+ <dynamics damping="1.0" friction="0.0001"/>
1332
+ </joint>
1333
+ <joint name="THJ0_z" type="revolute">
1334
+ <parent link="link_th_dd_y"/>
1335
+ <child link="link_th_dd_z"/>
1336
+ <origin xyz="0.0 0.0 0.0"/>
1337
+ <axis xyz="0 0 1"/>
1338
+ <limit effort="1000" lower="-1.0000" upper="1.0000" />
1339
+
1340
+ <dynamics damping="1.0" friction="0.0001"/>
1341
+ </joint>
1342
+ <link name="link_thtip">
1343
+ <inertial>
1344
+ <origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
1345
+ <mass value="0.00000"/>
1346
+ <inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
1347
+ </inertial>
1348
+ </link>
1349
+ <!-- Fix Finger joint -->
1350
+ <joint name="THTip" type="fixed">
1351
+ <parent link="link_th_dd_z"/>
1352
+ <child link="link_thtip"/>
1353
+ <origin xyz="-0.0315493 -0.00652654 0.02048647"/>
1354
+ </joint>
1355
+
1356
+
1357
+ </robot>
rsc/mano/meshes/ffdist_mean.stl ADDED
Binary file (4.88 kB). View file
 
rsc/mano/meshes/ffmiddle_mean.stl ADDED
Binary file (2.38 kB). View file
 
rsc/mano/meshes/ffprox_mean.stl ADDED
Binary file (2.18 kB). View file