| <robot | |
| name="h1"> | |
| <link name="L_hand_base_link"> | |
| <inertial> | |
| <origin | |
| xyz="-0.002551 -0.066047 -0.0019357" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.14143" /> | |
| <inertia | |
| ixx="0.0001234" | |
| ixy="2.1995E-06" | |
| ixz="-1.7694E-06" | |
| iyy="8.3835E-05" | |
| iyz="1.5968E-06" | |
| izz="7.7231E-05" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/L_hand_base_link.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/L_hand_base_link.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <link name="L_thumb_proximal_base"> | |
| <inertial> | |
| <origin | |
| xyz="0.0048817 0.00038782 -0.00722" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0018869" /> | |
| <inertia | |
| ixx="5.5158E-08" | |
| ixy="-1.1803E-08" | |
| ixz="-4.6743E-09" | |
| iyy="8.2164E-08" | |
| iyz="-1.3521E-09" | |
| izz="6.7434E-08" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link11_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link11_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_thumb_proximal_yaw_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="-0.01696 -0.0691 0.02045" | |
| rpy="1.5708 -1.5708 0" /> | |
| <parent | |
| link="L_hand_base_link" /> | |
| <child | |
| link="L_thumb_proximal_base" /> | |
| <axis | |
| xyz="0 0 1" /> | |
| <limit | |
| lower="-0.1" | |
| upper="1.3" | |
| effort="1" | |
| velocity="0.5" /> | |
| </joint> | |
| <link name="L_thumb_proximal"> | |
| <inertial> | |
| <origin | |
| xyz="0.021936 -0.01279 -0.0080386" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0066101" /> | |
| <inertia | |
| ixx="1.5693E-06" | |
| ixy="7.8339E-07" | |
| ixz="8.5959E-10" | |
| iyy="1.7356E-06" | |
| iyz="1.0378E-09" | |
| izz="2.787E-06" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link12_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link12_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_thumb_proximal_pitch_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="0.0099867 0.0098242 -0.0089" | |
| rpy="-1.5708 0 0.16939" /> | |
| <parent | |
| link="L_thumb_proximal_base" /> | |
| <child | |
| link="L_thumb_proximal" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0.0" | |
| upper="0.5" | |
| effort="1" | |
| velocity="0.5" /> | |
| </joint> | |
| <link name="L_thumb_intermediate"> | |
| <inertial> | |
| <origin | |
| xyz="0.0095531 0.0016282 -0.0072002" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0037844" /> | |
| <inertia | |
| ixx="3.6981E-07" | |
| ixy="9.8603E-08" | |
| ixz="-2.8173E-12" | |
| iyy="3.2395E-07" | |
| iyz="-2.8028E-12" | |
| izz="4.6532E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link13_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link13_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_thumb_intermediate_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="0.04407 -0.034553 -0.0008" | |
| rpy="0 0 0" /> | |
| <parent | |
| link="L_thumb_proximal" /> | |
| <child | |
| link="L_thumb_intermediate" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="0.8" | |
| effort="1" | |
| velocity="0.5" /> | |
| <mimic | |
| joint="L_thumb_proximal_pitch_joint" | |
| multiplier="1.6" | |
| offset="0" /> | |
| </joint> | |
| <link name="L_thumb_distal"> | |
| <inertial> | |
| <origin | |
| xyz="0.0092888 -0.004953 -0.0060033" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.003344" /> | |
| <inertia | |
| ixx="1.3632E-07" | |
| ixy="5.6787E-08" | |
| ixz="-9.1939E-11" | |
| iyy="1.4052E-07" | |
| iyz="1.2145E-10" | |
| izz="2.0026E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link14_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link14_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_thumb_distal_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="0.020248 -0.010156 -0.0012" | |
| rpy="0 0 0" /> | |
| <parent | |
| link="L_thumb_intermediate" /> | |
| <child | |
| link="L_thumb_distal" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="1.2" | |
| effort="1" | |
| velocity="0.5" /> | |
| <mimic | |
| joint="L_thumb_proximal_pitch_joint" | |
| multiplier="2.4" | |
| offset="0" /> | |
| </joint> | |
| <link name="L_index_proximal"> | |
| <inertial> | |
| <origin | |
| xyz="0.0012971 -0.011934 -0.0059998" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0042405" /> | |
| <inertia | |
| ixx="6.6215E-07" | |
| ixy="1.8442E-08" | |
| ixz="1.3746E-12" | |
| iyy="2.1167E-07" | |
| iyz="-1.4773E-11" | |
| izz="6.9402E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link15_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link15_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <link name="L_thumb_tip"> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <sphere radius="0.005"/> | |
| </geometry> | |
| <material name="green"> | |
| <color rgba="0 1 0 1" /> | |
| </material> | |
| </visual> | |
| </link> | |
| <joint name="L_thumb_tip_joint" type="fixed"> | |
| <parent link="L_thumb_distal"/> | |
| <child link="L_thumb_tip"/> | |
| <origin rpy="0 0 0" xyz="0.015 -0.013 -0.004"/> | |
| </joint> | |
| <joint | |
| name="L_index_proximal_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="0.00028533 -0.13653 0.032268" | |
| rpy="-0.034907 0 0" /> | |
| <parent | |
| link="L_hand_base_link" /> | |
| <child | |
| link="L_index_proximal" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="1.7" | |
| effort="1" | |
| velocity="0.5" /> | |
| </joint> | |
| <link name="L_index_intermediate"> | |
| <inertial> | |
| <origin | |
| xyz="0.0021753 -0.019567 -0.005" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0045682" /> | |
| <inertia | |
| ixx="7.6284E-07" | |
| ixy="-8.063E-08" | |
| ixz="3.6797E-13" | |
| iyy="9.4308E-08" | |
| iyz="1.5743E-13" | |
| izz="7.8176E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link16_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link16_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_index_intermediate_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="-0.0024229 -0.032041 -0.001" | |
| rpy="0 0 0" /> | |
| <parent | |
| link="L_index_proximal" /> | |
| <child | |
| link="L_index_intermediate" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="1.7" | |
| effort="1" | |
| velocity="0.5" /> | |
| <mimic | |
| joint="L_index_proximal_joint" | |
| multiplier="1" | |
| offset="0" /> | |
| </joint> | |
| <link name="L_index_tip"> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <sphere radius="0.005"/> | |
| </geometry> | |
| <material name="green"> | |
| <color rgba="0 1 0 1" /> | |
| </material> | |
| </visual> | |
| </link> | |
| <joint name="L_index_tip_joint" type="fixed"> | |
| <parent link="L_index_intermediate"/> | |
| <child link="L_index_tip"/> | |
| <origin rpy="0 0 0" xyz="-0.005 -0.04 -0.004"/> | |
| </joint> | |
| <link name="L_middle_proximal"> | |
| <inertial> | |
| <origin | |
| xyz="0.0012971 -0.011934 -0.0059999" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0042405" /> | |
| <inertia | |
| ixx="6.6215E-07" | |
| ixy="1.8442E-08" | |
| ixz="1.2299E-12" | |
| iyy="2.1167E-07" | |
| iyz="-1.4484E-11" | |
| izz="6.9402E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link17_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link17_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_middle_proximal_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="0.00028533 -0.1371 0.01295" | |
| rpy="0 0 0" /> | |
| <parent | |
| link="L_hand_base_link" /> | |
| <child | |
| link="L_middle_proximal" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="1.7" | |
| effort="1" | |
| velocity="0.5" /> | |
| </joint> | |
| <link name="L_middle_intermediate"> | |
| <inertial> | |
| <origin | |
| xyz="0.001921 -0.020796 -0.0049999" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0050397" /> | |
| <inertia | |
| ixx="9.5823E-07" | |
| ixy="-1.1425E-07" | |
| ixz="-2.4186E-12" | |
| iyy="1.0646E-07" | |
| iyz="3.6974E-12" | |
| izz="9.8385E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link18_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link18_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_middle_intermediate_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="-0.0024229 -0.032041 -0.001" | |
| rpy="0 0 0" /> | |
| <parent | |
| link="L_middle_proximal" /> | |
| <child | |
| link="L_middle_intermediate" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="1.7" | |
| effort="1" | |
| velocity="0.5" /> | |
| <mimic | |
| joint="L_middle_proximal_joint" | |
| multiplier="1" | |
| offset="0" /> | |
| </joint> | |
| <link name="L_middle_tip"> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <sphere radius="0.005"/> | |
| </geometry> | |
| <material name="green"> | |
| <color rgba="0 1 0 1" /> | |
| </material> | |
| </visual> | |
| </link> | |
| <joint name="L_middle_tip_joint" type="fixed"> | |
| <parent link="L_middle_intermediate"/> | |
| <child link="L_middle_tip"/> | |
| <origin rpy="0 0 0" xyz="-0.005 -0.045 -0.004"/> | |
| </joint> | |
| <link name="L_ring_proximal"> | |
| <inertial> | |
| <origin | |
| xyz="0.0012971 -0.011934 -0.0059999" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0042405" /> | |
| <inertia | |
| ixx="6.6215E-07" | |
| ixy="1.8442E-08" | |
| ixz="9.6052E-13" | |
| iyy="2.1167E-07" | |
| iyz="-1.4124E-11" | |
| izz="6.9402E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link19_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link19_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_ring_proximal_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="0.00028533 -0.13691 -0.0062872" | |
| rpy="0.05236 0 0" /> | |
| <parent | |
| link="L_hand_base_link" /> | |
| <child | |
| link="L_ring_proximal" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="1.7" | |
| effort="1" | |
| velocity="0.5" /> | |
| </joint> | |
| <link name="L_ring_intermediate"> | |
| <inertial> | |
| <origin | |
| xyz="0.0021753 -0.019567 -0.005" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0045682" /> | |
| <inertia | |
| ixx="7.6285E-07" | |
| ixy="-8.0631E-08" | |
| ixz="3.3472E-14" | |
| iyy="9.4308E-08" | |
| iyz="-4.4773E-13" | |
| izz="7.8176E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link20_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link20_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_ring_intermediate_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="-0.0024229 -0.032041 -0.001" | |
| rpy="0 0 0" /> | |
| <parent | |
| link="L_ring_proximal" /> | |
| <child | |
| link="L_ring_intermediate" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="1.7" | |
| effort="1" | |
| velocity="0.5" /> | |
| <mimic | |
| joint="L_ring_proximal_joint" | |
| multiplier="1" | |
| offset="0" /> | |
| </joint> | |
| <link name="L_ring_tip"> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <sphere radius="0.005"/> | |
| </geometry> | |
| <material name="green"> | |
| <color rgba="0 1 0 1" /> | |
| </material> | |
| </visual> | |
| </link> | |
| <joint name="L_ring_tip_joint" type="fixed"> | |
| <parent link="L_ring_intermediate"/> | |
| <child link="L_ring_tip"/> | |
| <origin rpy="0 0 0" xyz="-0.002 -0.04 -0.004"/> | |
| </joint> | |
| <link name="L_pinky_proximal"> | |
| <inertial> | |
| <origin | |
| xyz="0.0012971 -0.011934 -0.0059999" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0042405" /> | |
| <inertia | |
| ixx="6.6215E-07" | |
| ixy="1.8442E-08" | |
| ixz="1.0279E-12" | |
| iyy="2.1167E-07" | |
| iyz="-1.4277E-11" | |
| izz="6.9402E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link21_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link21_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_pinky_proximal_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="0.00028533 -0.13571 -0.025488" | |
| rpy="0.10472 0 0" /> | |
| <parent | |
| link="L_hand_base_link" /> | |
| <child | |
| link="L_pinky_proximal" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="1.7" | |
| effort="1" | |
| velocity="0.5" /> | |
| </joint> | |
| <link name="L_pinky_intermediate"> | |
| <inertial> | |
| <origin | |
| xyz="0.0024788 -0.016208 -0.0050001" | |
| rpy="0 0 0" /> | |
| <mass | |
| value="0.0036036" /> | |
| <inertia | |
| ixx="4.3923E-07" | |
| ixy="-4.1355E-08" | |
| ixz="1.2263E-12" | |
| iyy="7.0315E-08" | |
| iyz="3.1311E-12" | |
| izz="4.4881E-07" /> | |
| </inertial> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link22_L.STL" /> | |
| </geometry> | |
| <material name=""> | |
| <color rgba="0.1 0.1 0.1 1" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <mesh filename="./meshes/Link22_L.STL" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint | |
| name="L_pinky_intermediate_joint" | |
| type="revolute"> | |
| <origin | |
| xyz="-0.0024229 -0.032041 -0.001" | |
| rpy="0 0 0" /> | |
| <parent | |
| link="L_pinky_proximal" /> | |
| <child | |
| link="L_pinky_intermediate" /> | |
| <axis | |
| xyz="0 0 -1" /> | |
| <limit | |
| lower="0" | |
| upper="1.7" | |
| effort="1" | |
| velocity="0.5" /> | |
| <mimic | |
| joint="L_pinky_proximal_joint" | |
| multiplier="1" | |
| offset="0" /> | |
| </joint> | |
| <link name="L_pinky_tip"> | |
| <visual> | |
| <origin | |
| xyz="0 0 0" | |
| rpy="0 0 0" /> | |
| <geometry> | |
| <sphere radius="0.005"/> | |
| </geometry> | |
| <material name="green"> | |
| <color rgba="0 1 0 1" /> | |
| </material> | |
| </visual> | |
| </link> | |
| <joint name="L_pinky_tip_joint" type="fixed"> | |
| <parent link="L_pinky_intermediate"/> | |
| <child link="L_pinky_tip"/> | |
| <origin rpy="0 0 0" xyz="-0.002 -0.032 -0.004"/> | |
| </joint> | |
| </robot> |