robots/gr1/inspire_hand/inspire_hand_right.urdf

<robot
  name="h1">

  <mujoco>
    <compiler meshdir="./meshes" discardvisual="false" />
  </mujoco>


  <!-- [CAUTION] uncomment when convert to mujoco -->
  <!-- <link name="world"></link>
  <joint name="floating_base_joint" type="floating">
    <parent link="world" />
    <child link="pelvis" />
  </joint> -->

  <link name="R_hand_base_link">
    <inertial>
      <origin
        xyz="-0.0025264 -0.066047 0.0019598"
        rpy="0 0 0" />
      <mass
        value="0.14143" />
      <inertia
        ixx="0.00012281"
        ixy="2.1711E-06"
        ixz="1.7709E-06"
        iyy="8.3832E-05"
        iyz="-1.6551E-06"
        izz="7.6663E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/R_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/R_hand_base_link.STL" />
      </geometry>
    </collision>
  </link>

  <link name="R_thumb_proximal_base">
    <inertial>
      <origin
        xyz="-0.0048064 0.0009382 -0.00757"
        rpy="0 0 0" />
      <mass
        value="0.0018869" />
      <inertia
        ixx="5.816E-08"
        ixy="1.4539E-08"
        ixz="4.491E-09"
        iyy="7.9161E-08"
        iyz="-1.8727E-09"
        izz="6.7433E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link11_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_thumb_proximal_yaw_joint"
    type="revolute">
    <origin
      xyz="-0.01696 -0.0691 -0.02045"
      rpy="1.5708 -1.5708 0" />
    <parent
      link="R_hand_base_link" />
    <child
      link="R_thumb_proximal_base" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.1"
      upper="1.3"
      effort="1"
      velocity="0.5" />
  </joint>

  <link name="R_thumb_proximal">
    <inertial>
      <origin
        xyz="0.021932 0.012785 -0.0080386"
        rpy="0 0 0" />
      <mass
        value="0.0066075" />
      <inertia
        ixx="1.5686E-06"
        ixy="-7.8296E-07"
        ixz="8.9143E-10"
        iyy="1.7353E-06"
        iyz="-1.0191E-09"
        izz="2.786E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link12_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_thumb_proximal_pitch_joint"
    type="revolute">
    <origin
      xyz="-0.0088099 0.010892 -0.00925"
      rpy="1.5708 0 2.8587" />
    <parent
      link="R_thumb_proximal_base" />
    <child
      link="R_thumb_proximal" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0.0"
      upper="0.5"
      effort="1"
      velocity="0.5" />
  </joint>

  <link name="R_thumb_intermediate">
    <inertial>
      <origin
        xyz="0.0095544 -0.0016282 -0.0071997"
        rpy="0 0 0" />
      <mass
        value="0.0037847" />
      <inertia
        ixx="3.6981E-07"
        ixy="-9.8581E-08"
        ixz="-4.7469E-12"
        iyy="3.2394E-07"
        iyz="1.0939E-12"
        izz="4.6531E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link13_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_thumb_intermediate_joint"
    type="revolute">
    <origin
      xyz="0.04407 0.034553 -0.0008"
      rpy="0 0 0" />
    <parent
      link="R_thumb_proximal" />
    <child
      link="R_thumb_intermediate" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="0.8"
      effort="1"
      velocity="0.5" />
    <mimic 
      joint="R_thumb_proximal_pitch_joint"
      multiplier="1.6"
      offset="0" />
  </joint>

  <link name="R_thumb_distal">
    <inertial>
      <origin
        xyz="0.0092888 0.0049529 -0.0060033"
        rpy="0 0 0" />
      <mass
        value="0.0033441" />
      <inertia
        ixx="1.3632E-07"
        ixy="-5.6788E-08"
        ixz="-9.2764E-11"
        iyy="1.4052E-07"
        iyz="-1.2283E-10"
        izz="2.0026E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link14_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_thumb_distal_joint"
    type="revolute">
    <origin
      xyz="0.020248 0.010156 -0.0012"
      rpy="0 0 0" />
    <parent
      link="R_thumb_intermediate" />
    <child
      link="R_thumb_distal" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.2"
      effort="1"
      velocity="0.5" />
    <mimic 
      joint="R_thumb_proximal_pitch_joint"
      multiplier="2.4"
      offset="0" />
  </joint>

  <link name="R_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="R_thumb_tip_joint" type="fixed">
    <parent link="R_thumb_distal"/>
    <child link="R_thumb_tip"/>
    <origin rpy="0 0 0" xyz="0.015 0.013 -0.004"/>
  </joint>

  <link name="R_index_proximal">
    <inertial>
      <origin
        xyz="0.0012259 0.011942 -0.0060001"
        rpy="0 0 0" />
      <mass
        value="0.0042403" />
      <inertia
        ixx="6.6232E-07"
        ixy="-1.5775E-08"
        ixz="1.8515E-12"
        iyy="2.1146E-07"
        iyz="-5.0828E-12"
        izz="6.9398E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link15_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_index_proximal_joint"
    type="revolute">
    <origin
      xyz="0.00028533 -0.13653 -0.032268"
      rpy="-3.1067 0 0" />
    <parent
      link="R_hand_base_link" />
    <child
      link="R_index_proximal" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.7"
      effort="1"
      velocity="0.5" />
  </joint>

  <link name="R_index_intermediate">
    <inertial>
      <origin
        xyz="0.0019697 0.019589 -0.005"
        rpy="0 0 0" />
      <mass
        value="0.0045683" />
      <inertia
        ixx="7.6111E-07"
        ixy="8.7637E-08"
        ixz="-3.7751E-13"
        iyy="9.6076E-08"
        iyz="9.9444E-13"
        izz="7.8179E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link16_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_index_intermediate_joint"
    type="revolute">
    <origin
      xyz="-0.0026138 0.032026 -0.001"
      rpy="0 0 0" />
    <parent
      link="R_index_proximal" />
    <child
      link="R_index_intermediate" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.7"
      effort="1"
      velocity="0.5" />
    <mimic 
      joint="R_index_proximal_joint"
      multiplier="1"
      offset="0" />
  </joint>

  <link name="R_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="R_index_tip_joint" type="fixed">
    <parent link="R_index_intermediate"/>
    <child link="R_index_tip"/>
    <origin rpy="0 0 0" xyz="-0.005 0.04 -0.004"/>
  </joint>

  <link name="R_middle_proximal">
    <inertial>
      <origin
        xyz="0.001297 0.011934 -0.0060001"
        rpy="0 0 0" />
      <mass
        value="0.0042403" />
      <inertia
        ixx="6.6211E-07"
        ixy="-1.8461E-08"
        ixz="1.8002E-12"
        iyy="2.1167E-07"
        iyz="-6.6808E-12"
        izz="6.9397E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link17_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_middle_proximal_joint"
    type="revolute">
    <origin
      xyz="0.00028533 -0.1371 -0.01295"
      rpy="-3.1416 0 0" />
    <parent
      link="R_hand_base_link" />
    <child
      link="R_middle_proximal" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.7"
      effort="1"
      velocity="0.5" />
  </joint>

  <link name="R_middle_intermediate">
    <inertial>
      <origin
        xyz="0.001921 0.020796 -0.005"
        rpy="0 0 0" />
      <mass
        value="0.0050396" />
      <inertia
        ixx="9.5822E-07"
        ixy="1.1425E-07"
        ixz="-2.4791E-12"
        iyy="1.0646E-07"
        iyz="5.9173E-12"
        izz="9.8384E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link18_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_middle_intermediate_joint"
    type="revolute">
    <origin
      xyz="-0.0024229 0.032041 -0.001"
      rpy="0 0 0" />
    <parent
      link="R_middle_proximal" />
    <child
      link="R_middle_intermediate" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.7"
      effort="1"
      velocity="0.5" />
    <mimic 
      joint="R_middle_proximal_joint"
      multiplier="1"
      offset="0" />
  </joint>

  <link name="R_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="R_middle_tip_joint" type="fixed">
    <parent link="R_middle_intermediate"/>
    <child link="R_middle_tip"/>
    <origin rpy="0 0 0" xyz="-0.005 0.045 -0.004"/>
  </joint>

  <link name="R_ring_proximal">
    <inertial>
      <origin
        xyz="0.001297 0.011934 -0.0060002"
        rpy="0 0 0" />
      <mass
        value="0.0042403" />
      <inertia
        ixx="6.6211E-07"
        ixy="-1.8461E-08"
        ixz="1.5793E-12"
        iyy="2.1167E-07"
        iyz="-6.6868E-12"
        izz="6.9397E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link19_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_ring_proximal_joint"
    type="revolute">
    <origin
      xyz="0.00028533 -0.13691 0.0062872"
      rpy="3.0892 0 0" />
    <parent
      link="R_hand_base_link" />
    <child
      link="R_ring_proximal" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.7"
      effort="1"
      velocity="0.5" />
  </joint>

  <link name="R_ring_intermediate">
    <inertial>
      <origin
        xyz="0.0021753 0.019567 -0.005"
        rpy="0 0 0" />
      <mass
        value="0.0045683" />
      <inertia
        ixx="7.6286E-07"
        ixy="8.0635E-08"
        ixz="-6.1562E-13"
        iyy="9.431E-08"
        iyz="5.8619E-13"
        izz="7.8177E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link20_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_ring_intermediate_joint"
    type="revolute">
    <origin
      xyz="-0.0024229 0.032041 -0.001"
      rpy="0 0 0" />
    <parent
      link="R_ring_proximal" />
    <child
      link="R_ring_intermediate" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.7"
      effort="1"
      velocity="0.5" />
    <mimic 
      joint="R_ring_proximal_joint"
      multiplier="1"
      offset="0" />
  </joint>

  <link name="R_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="R_ring_tip_joint" type="fixed">
    <parent link="R_ring_intermediate"/>
    <child link="R_ring_tip"/>
    <origin rpy="0 0 0" xyz="-0.002 0.04 -0.004"/>
  </joint>

  <link name="R_pinky_proximal">
    <inertial>
      <origin
        xyz="0.001297 0.011934 -0.0060001"
        rpy="0 0 0" />
      <mass
        value="0.0042403" />
      <inertia
        ixx="6.6211E-07"
        ixy="-1.8461E-08"
        ixz="1.6907E-12"
        iyy="2.1167E-07"
        iyz="-6.9334E-12"
        izz="6.9397E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link21_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_pinky_proximal_joint"
    type="revolute">
    <origin
      xyz="0.00028533 -0.13571 0.025488"
      rpy="3.0369 0 0" />
    <parent
      link="R_hand_base_link" />
    <child
      link="R_pinky_proximal" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.7"
      effort="1"
      velocity="0.5" />
  </joint>

  <link name="R_pinky_intermediate">
    <inertial>
      <origin
        xyz="0.0024748 0.016203 -0.0050031"
        rpy="0 0 0" />
      <mass
        value="0.0035996" />
      <inertia
        ixx="4.3913E-07"
        ixy="4.1418E-08"
        ixz="3.7168E-11"
        iyy="7.0247E-08"
        iyz="5.8613E-11"
        izz="4.4867E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/Link22_R.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_R.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="R_pinky_intermediate_joint"
    type="revolute">
    <origin
      xyz="-0.0024229 0.032041 -0.001"
      rpy="0 0 0" />
    <parent
      link="R_pinky_proximal" />
    <child
      link="R_pinky_intermediate" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.7"
      effort="1"
      velocity="0.5" />
    <mimic 
      joint="R_pinky_proximal_joint"
      multiplier="1"
      offset="0" />
  </joint>

  <link name="R_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="R_pinky_tip_joint" type="fixed">
    <parent link="R_pinky_intermediate"/>
    <child link="R_pinky_tip"/>
    <origin rpy="0 0 0" xyz="-0.002 0.032 -0.004"/>
  </joint>
</robot>