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549 lines
16 KiB
549 lines
16 KiB
<robot name="inspire_hand_left">
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<mujoco>
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<compiler meshdir="./meshes" discardvisual="false" />
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</mujoco>
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<link name="L_hand_base_link">
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<inertial>
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<origin xyz="-0.002551 -0.066047 -0.0019357" rpy="0 0 0" />
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<mass value="0.14143" />
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<inertia ixx="0.0001234" ixy="2.1995E-06" ixz="-1.7694E-06" iyy="8.3835E-05" iyz="1.5968E-06" izz="7.7231E-05" />
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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/L_hand_base_link.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/L_hand_base_link.STL" />
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</geometry>
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</collision>
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<visual>
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<origin xyz="0.075 0 0" rpy="0 -1.5708 0"/>
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<geometry>
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<cylinder length="0.15" radius="0.004"/>
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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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<visual>
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<origin xyz="0.15 0 0" rpy="0 -1.5708 0"/>
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<geometry>
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<sphere radius="0.015"/>
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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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<visual>
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<origin xyz="0 0.075 0" rpy="1.5708 0 0"/>
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<geometry>
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<cylinder length="0.15" radius="0.004"/>
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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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<visual>
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<origin xyz="0 0.15 0" rpy="1.5708 0 0"/>
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<geometry>
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<sphere radius="0.015"/>
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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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<visual>
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<origin xyz="0 0 0.075" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.15" radius="0.004"/>
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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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<visual>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.015"/>
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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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<link name="L_thumb_proximal_base">
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<inertial>
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<origin xyz="0.0048817 0.00038782 -0.00722" rpy="0 0 0" />
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<mass value="0.0018869" />
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<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" />
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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/Link11_L.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/Link11_L.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_thumb_proximal_yaw_joint" type="revolute">
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<origin xyz="-0.01696 -0.0691 0.02045" rpy="1.5708 -1.5708 0" />
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<parent link="L_hand_base_link" />
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<child link="L_thumb_proximal_base" />
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<axis xyz="0 0 1" />
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<limit lower="-0.1" upper="1.3" effort="1" velocity="0.5" />
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</joint>
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<link name="L_thumb_proximal">
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<inertial>
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<origin xyz="0.021936 -0.01279 -0.0080386" rpy="0 0 0" />
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<mass value="0.0066101" />
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<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" />
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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/Link12_L.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/Link12_L.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_thumb_proximal_pitch_joint" type="revolute">
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<origin xyz="0.0099867 0.0098242 -0.0089" rpy="-1.5708 0 0.16939" />
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<parent link="L_thumb_proximal_base" />
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<child link="L_thumb_proximal" />
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<axis xyz="0 0 -1" />
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<limit lower="0.0" upper="0.5" effort="1" velocity="0.5" />
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</joint>
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<link name="L_thumb_intermediate">
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<inertial>
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<origin xyz="0.0095531 0.0016282 -0.0072002" rpy="0 0 0" />
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<mass value="0.0037844" />
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<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" />
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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/Link13_L.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/Link13_L.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_thumb_intermediate_joint" type="revolute">
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<origin xyz="0.04407 -0.034553 -0.0008" rpy="0 0 0" />
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<parent link="L_thumb_proximal" />
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<child link="L_thumb_intermediate" />
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<axis xyz="0 0 -1" />
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<limit lower="0" upper="0.8" effort="1" velocity="0.5" />
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<mimic joint="L_thumb_proximal_pitch_joint" multiplier="1.6" offset="0" />
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</joint>
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<link name="L_thumb_distal">
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<inertial>
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<origin xyz="0.0092888 -0.004953 -0.0060033" rpy="0 0 0" />
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<mass value="0.003344" />
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<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" />
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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/Link14_L.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/Link14_L.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_thumb_distal_joint" type="revolute">
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<origin xyz="0.020248 -0.010156 -0.0012" rpy="0 0 0" />
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<parent link="L_thumb_intermediate" />
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<child link="L_thumb_distal" />
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<axis xyz="0 0 -1" />
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<limit lower="0" upper="1.2" effort="1" velocity="0.5" />
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<mimic joint="L_thumb_proximal_pitch_joint" multiplier="2.4" offset="0" />
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</joint>
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<link name="L_index_proximal">
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<inertial>
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<origin xyz="0.0012971 -0.011934 -0.0059998" rpy="0 0 0" />
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<mass value="0.0042405" />
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<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" />
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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/Link15_L.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/Link15_L.STL" />
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</geometry>
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</collision>
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</link>
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<link name="L_thumb_tip">
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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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<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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<joint name="L_thumb_tip_joint" type="fixed">
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<parent link="L_thumb_distal"/>
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<child link="L_thumb_tip"/>
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<origin rpy="0 0 0" xyz="0.015 -0.013 -0.004"/>
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</joint>
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<joint name="L_index_proximal_joint" type="revolute">
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<origin xyz="0.00028533 -0.13653 0.032268" rpy="-0.034907 0 0" />
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<parent link="L_hand_base_link" />
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<child link="L_index_proximal" />
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<axis xyz="0 0 -1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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</joint>
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<link name="L_index_intermediate">
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<inertial>
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<origin xyz="0.0021753 -0.019567 -0.005" rpy="0 0 0" />
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<mass value="0.0045682" />
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<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" />
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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/Link16_L.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/Link16_L.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_index_intermediate_joint" type="revolute">
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<origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0" />
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<parent link="L_index_proximal" />
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<child link="L_index_intermediate" />
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<axis xyz="0 0 -1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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<mimic joint="L_index_proximal_joint" multiplier="1" offset="0" />
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</joint>
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<link name="L_index_tip">
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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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<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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<joint name="L_index_tip_joint" type="fixed">
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<parent link="L_index_intermediate"/>
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<child link="L_index_tip"/>
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<origin rpy="0 0 0" xyz="-0.005 -0.04 -0.004"/>
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</joint>
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<link name="L_middle_proximal">
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<inertial>
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<origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0" />
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<mass value="0.0042405" />
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<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" />
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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/Link17_L.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/Link17_L.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_middle_proximal_joint" type="revolute">
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<origin xyz="0.00028533 -0.1371 0.01295" rpy="0 0 0" />
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<parent link="L_hand_base_link" />
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<child link="L_middle_proximal" />
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<axis xyz="0 0 -1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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</joint>
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<link name="L_middle_intermediate">
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<inertial>
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<origin xyz="0.001921 -0.020796 -0.0049999" rpy="0 0 0" />
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<mass value="0.0050397" />
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<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" />
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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/Link18_L.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/Link18_L.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_middle_intermediate_joint" type="revolute">
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<origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0" />
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<parent link="L_middle_proximal" />
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<child link="L_middle_intermediate" />
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<axis xyz="0 0 -1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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<mimic joint="L_middle_proximal_joint" multiplier="1" offset="0" />
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</joint>
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<link name="L_middle_tip">
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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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<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="L_middle_tip_joint" type="fixed">
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<parent link="L_middle_intermediate"/>
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<child link="L_middle_tip"/>
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<origin rpy="0 0 0" xyz="-0.005 -0.045 -0.004"/>
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</joint>
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<link name="L_ring_proximal">
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<inertial>
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<origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0" />
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<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" />
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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/Link19_L.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/Link19_L.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="L_ring_proximal_joint" type="revolute">
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<origin xyz="0.00028533 -0.13691 -0.0062872" rpy="0.05236 0 0" />
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<parent link="L_hand_base_link" />
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<child link="L_ring_proximal" />
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<axis xyz="0 0 -1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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</joint>
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|
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<link name="L_ring_intermediate">
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|
<inertial>
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|
<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" />
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|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link20_L.STL" />
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</geometry>
|
|
<material name="">
|
|
<color rgba="1.0 1.0 1.0 1" />
|
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</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="cyan">
|
|
<color rgba="0 1 1 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="1.0 1.0 1.0 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="1.0 1.0 1.0 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="white">
|
|
<color rgba="1 1 1 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>
|