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400 lines
12 KiB
400 lines
12 KiB
<robot name="dex3_left">
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<mujoco>
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<compiler meshdir="meshes" discardvisual="false" />
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</mujoco>
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<!-- [CAUTION] uncomment when convert to mujoco -->
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<!-- <link name="world"></link>
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<joint name="floating_base_joint" type="floating">
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<parent link="world"/>
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<child link="pelvis"/>
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</joint> -->
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<link name="left_hand_palm_link">
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<inertial>
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<origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0" />
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<mass value="0.37283854" />
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<inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890"
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iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_palm_link.STL" />
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_palm_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_zero_joint" type="revolute">
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<origin xyz="0.028 0 0" rpy="0 0 0" />
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<axis xyz="0 1 0" />
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<parent link="left_hand_palm_link" />
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<child link="left_hand_zero_link" />
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<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755" />
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</joint>
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<link name="left_hand_zero_link">
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<inertial>
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<origin xyz="-0.00035441315 -0.01329887312 0.00041236207" rpy="0 0 0" />
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<mass value="0.08033018" />
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<inertia ixx="0.00001322529836" ixy="0.00000008155993" ixz="0.00000002632547"
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iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_zero_link.STL" />
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_zero_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_one_joint" type="revolute">
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<origin xyz="0 -0.0246 0" rpy="0 0 0" />
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<axis xyz="0 0 1" />
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<parent link="left_hand_zero_link" />
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<child link="left_hand_one_link" />
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<limit effort="0.7" velocity="24" lower="-0.72431163" upper="1.04719755" />
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</joint>
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<link name="left_hand_one_link">
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<inertial>
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<origin xyz="0.00362060191 -0.04044395878 -0.00029771094" rpy="0 0 0" />
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<mass value="0.05619628" />
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<inertia ixx="0.00001234776425" ixy="0.00000026810498" ixz="-0.00000008482929"
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iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_one_link.STL" />
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_one_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_two_joint" type="revolute">
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<origin xyz="0.0055 -0.0528 0" rpy="0 0 0" />
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<axis xyz="0 0 1" />
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<parent link="left_hand_one_link" />
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<child link="left_hand_two_link" />
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<limit effort="0.7" velocity="24" lower="0" upper="2.09439510" />
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</joint>
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<link name="left_hand_two_link">
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<inertial>
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<origin xyz="-0.00081405957 -0.03456206723 0.00012979919" rpy="0 0 0" />
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<mass value="0.02487314" />
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<inertia ixx="0.00000859888903" ixy="0.00000021727392" ixz="-0.00000000850093"
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iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_two_link.STL" />
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_two_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_three_joint" type="revolute">
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<origin xyz="0.1 -0.0017 -0.0285" rpy="0 0 0" />
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<axis xyz="0 0 1" />
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<parent link="left_hand_palm_link" />
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<child link="left_hand_three_link" />
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<limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621" />
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</joint>
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<link name="left_hand_three_link">
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<inertial>
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<origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0" />
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<mass value="0.05619628" />
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<inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408"
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iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_three_link.STL" />
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_three_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_four_joint" type="revolute">
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<origin xyz="0.0528 -0.0055 0" rpy="0 0 0" />
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<axis xyz="0 0 1" />
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<parent link="left_hand_three_link" />
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<child link="left_hand_four_link" />
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<limit effort="0.7" velocity="24" lower="-2.09439510" upper="0" />
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</joint>
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<link name="left_hand_four_link">
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<inertial>
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<origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0" />
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<mass value="0.02487314" />
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<inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043"
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iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_four_link.STL" />
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_four_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_five_joint" type="revolute">
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<origin xyz="0.1 -0.0017 0.0285" rpy="0 0 0" />
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<axis xyz="0 0 1" />
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<parent link="left_hand_palm_link" />
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<child link="left_hand_five_link" />
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<limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621" />
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</joint>
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<link name="left_hand_five_link">
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<inertial>
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<origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0" />
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<mass value="0.05619628" />
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<inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408"
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iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_five_link.STL" />
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_five_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_six_joint" type="revolute">
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<origin xyz="0.0528 -0.0055 0" rpy="0 0 0" />
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<axis xyz="0 0 1" />
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<parent link="left_hand_five_link" />
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<child link="left_hand_six_link" />
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<limit effort="0.7" velocity="24" lower="-2.09439510" upper="0" />
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</joint>
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<link name="left_hand_six_link">
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<inertial>
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<origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0" />
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<mass value="0.02487314" />
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<inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043"
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iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_six_link.STL" />
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="meshes/left_hand_six_link.STL" />
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</geometry>
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</collision>
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</link>
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<!-- virtual auxiliary link -->
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<!-- for openxr / apple vision pro, good retarget with thumb and index.-->
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<link name="base_link_thumb" />
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<joint name="base_thumb" type="fixed">
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<parent link="base_link_thumb" />
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<child link="base_link" />
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<origin rpy="0 0 0" xyz="0.01 0.01 -0.03" />
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</joint>
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<link name="base_link" />
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<joint name="base" type="fixed">
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<parent link="base_link" />
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<child link="left_hand_palm_link" />
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<origin rpy="0 0 -1.57" xyz="-0.02 0 0.01" />
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</joint>
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<link name="thumb_tip">
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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<material name="red">
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<color rgba="1 0 0 1" />
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</material>
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</visual>
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</link>
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<link name="index_tip">
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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<material name="green">
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<color rgba="0 1 0 1" />
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</material>
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</visual>
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</link>
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<link name="middle_tip">
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 1 1" />
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</material>
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</visual>
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</link>
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<joint name="thumb_tip_joint" type="fixed">
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<parent link="left_hand_two_link" />
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<child link="thumb_tip" />
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<origin rpy="0 0 0" xyz="0.003 -0.06 0" />
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</joint>
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<joint name="middle_joint" type="fixed">
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<parent link="left_hand_four_link" />
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<child link="middle_tip" />
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<origin rpy="0 0 0" xyz="0.06 -0.003 0" />
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</joint>
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<joint name="index_joint" type="fixed">
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<parent link="left_hand_six_link" />
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<child link="index_tip" />
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<origin rpy="0 0 0" xyz="0.06 -0.003 0" />
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</joint>
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<!-- for mediapipe -->
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<!-- <link name="base_link_thumb" />
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<joint name="base_thumb" type="fixed">
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<parent link="base_link_thumb" />
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<child link="base_link" />
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<origin rpy="0 0 0" xyz="-0.04 0.05 -0.06" />
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</joint>
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<link name="base_link" />
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<joint name="base" type="fixed">
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<parent link="base_link" />
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<child link="left_hand_palm_link" />
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<origin rpy="1.57 -1.57 0" xyz="0.02 -0.01 0" />
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</joint>
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<link name="thumb_tip">
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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<material name="red">
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<color rgba="1 0 0 1" />
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</material>
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</visual>
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</link>
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<link name="index_tip">
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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<material name="green">
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<color rgba="0 1 0 1" />
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</material>
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</visual>
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</link>
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<link name="middle_tip">
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<sphere radius="0.005"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 1 1" />
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</material>
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</visual>
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</link>
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<joint name="thumb_tip_joint" type="fixed">
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<parent link="left_hand_two_link" />
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<child link="thumb_tip" />
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<origin rpy="0 0 0" xyz="0.003 -0.06 0" />
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</joint>
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<joint name="middle_joint" type="fixed">
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<parent link="left_hand_four_link" />
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<child link="middle_tip" />
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<origin rpy="0 0 0" xyz="0.06 -0.003 0" />
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</joint>
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<joint name="index_joint" type="fixed">
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<parent link="left_hand_six_link" />
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<child link="index_tip" />
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<origin rpy="0 0 0" xyz="0.06 -0.003 0" />
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</joint> -->
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</robot>
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