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1543 lines
49 KiB
1543 lines
49 KiB
<robot name="h1">
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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="pelvis">
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<inertial>
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<origin xyz="-0.0002 4E-05 -0.04522" rpy="0 0 0" />
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<mass value="5.39" />
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<inertia ixx="0.044582" ixy="8.7034E-05" ixz="-1.9893E-05" iyy="0.0082464" iyz="4.021E-06" izz="0.049021" />
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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/pelvis.STL" />
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</geometry>
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<material name="">
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<color rgba="0.1 0.1 0.1 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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<sphere radius="0.05"/>
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</geometry>
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</collision>
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</link>
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<link name="left_hip_yaw_link">
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<inertial>
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<origin xyz="-0.04923 0.0001 0.0072" rpy="0 0 0" />
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<mass value="2.244" />
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<inertia ixx="0.0025731" ixy="9.159E-06" ixz="-0.00051948" iyy="0.0030444" iyz="1.949E-06" izz="0.0022883" />
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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_hip_yaw_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
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<geometry>
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<cylinder radius="0.01" length="0.02"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hip_yaw_joint" type="revolute">
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<origin xyz="0 0.0875 -0.1742" rpy="0 0 0" />
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<parent link="pelvis" />
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<child link="left_hip_yaw_link" />
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<axis xyz="0 0 1" />
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<limit lower="-0.43" upper="0.43" effort="200" velocity="23" />
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</joint>
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<link name="left_hip_roll_link">
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<inertial>
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<origin xyz="-0.0058 -0.00319 -9E-05" rpy="0 0 0" />
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<mass value="2.232" />
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<inertia ixx="0.0020603" ixy="3.2115E-05" ixz="2.878E-06" iyy="0.0022482" iyz="-7.813E-06" izz="0.0024323" />
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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_hip_roll_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
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<geometry>
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<cylinder radius="0.02" length="0.01"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hip_roll_joint" type="revolute">
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<origin xyz="0.039468 0 0" rpy="0 0 0" />
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<parent link="left_hip_yaw_link" />
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<child link="left_hip_roll_link" />
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<axis xyz="1 0 0" />
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<limit lower="-0.43" upper="0.43" effort="200" velocity="23" />
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</joint>
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<link name="left_hip_pitch_link">
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<inertial>
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<origin xyz="0.00746 -0.02346 -0.08193" rpy="0 0 0" />
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<mass value="4.152" />
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<inertia ixx="0.082618" ixy="-0.00066654" ixz="0.0040725" iyy="0.081579" iyz="0.0072024" izz="0.0060081" />
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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_hip_pitch_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 -0.2" rpy="0 0 0" />
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<geometry>
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<cylinder radius="0.05" length="0.2"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hip_pitch_joint" type="revolute">
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<origin xyz="0 0.11536 0" rpy="0 0 0" />
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<parent link="left_hip_roll_link" />
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<child link="left_hip_pitch_link" />
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<axis xyz="0 1 0" />
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<limit lower="-3.14" upper="2.53" effort="200" velocity="23" />
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</joint>
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<link name="left_knee_link">
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<inertial>
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<origin xyz="-0.00136 -0.00512 -0.1384" rpy="0 0 0" />
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<mass value="1.721" />
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<inertia ixx="0.012205" ixy="-6.8431E-05" ixz="0.0010862" iyy="0.012509" iyz="0.00022549" izz="0.0020629" />
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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_knee_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 -0.2" rpy="0 0 0" />
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<geometry>
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<cylinder radius="0.05" length="0.2"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_knee_joint" type="revolute">
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<origin xyz="0 0 -0.4" rpy="0 0 0" />
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<parent link="left_hip_pitch_link" />
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<child link="left_knee_link" />
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<axis xyz="0 1 0" />
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<limit lower="-0.26" upper="2.05" effort="300" velocity="14" />
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</joint>
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<link name="left_ankle_link">
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<inertial>
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<origin xyz="0.042575 -0.000001 -0.044672" rpy="0 0 0" />
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<mass value="0.474" />
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<inertia ixx="0.000159668" ixy="-0.000000005" ixz="0.000141063" iyy="0.002900286" iyz="0.000000014" izz="0.002805438" />
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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_ankle_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0.05 0.0 -0.05" rpy="0 0 0" />
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<geometry>
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<box size="0.28 0.03 0.024"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_ankle_joint" type="revolute">
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<origin xyz="0 0 -0.4" rpy="0 0 0" />
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<parent link="left_knee_link" />
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<child link="left_ankle_link" />
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<axis xyz="0 1 0" />
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<limit lower="-0.87" upper="0.52" effort="40" velocity="9" />
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</joint>
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<link name="right_hip_yaw_link">
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<inertial>
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<origin xyz="-0.04923 -0.0001 0.0072" rpy="0 0 0" />
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<mass value="2.244" />
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<inertia ixx="0.0025731" ixy="-9.159E-06" ixz="-0.00051948" iyy="0.0030444" iyz="-1.949E-06" izz="0.0022883" />
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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/right_hip_yaw_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
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<geometry>
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<cylinder radius="0.01" length="0.02"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_hip_yaw_joint" type="revolute">
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<origin xyz="0 -0.0875 -0.1742" rpy="0 0 0" />
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<parent link="pelvis" />
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<child link="right_hip_yaw_link" />
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<axis xyz="0 0 1" />
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<limit lower="-0.43" upper="0.43" effort="200" velocity="23" />
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</joint>
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<link name="right_hip_roll_link">
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<inertial>
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|
<origin xyz="-0.0058 0.00319 -9E-05" rpy="0 0 0" />
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|
<mass value="2.232" />
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|
<inertia ixx="0.0020603" ixy="-3.2115E-05" ixz="2.878E-06" iyy="0.0022482" iyz="7.813E-06" izz="0.0024323" />
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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/right_hip_roll_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.1 0.1 0.1 1" />
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</material>
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</visual>
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|
<collision>
|
|
<origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
|
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<geometry>
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|
<cylinder radius="0.02" length="0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="right_hip_roll_joint" type="revolute">
|
|
<origin xyz="0.039468 0 0" rpy="0 0 0" />
|
|
<parent link="right_hip_yaw_link" />
|
|
<child link="right_hip_roll_link" />
|
|
<axis xyz="1 0 0" />
|
|
<limit lower="-0.43" upper="0.43" effort="200" velocity="23" />
|
|
</joint>
|
|
<link name="right_hip_pitch_link">
|
|
<inertial>
|
|
<origin xyz="0.00746 0.02346 -0.08193" rpy="0 0 0" />
|
|
<mass value="4.152" />
|
|
<inertia ixx="0.082618" ixy="0.00066654" ixz="0.0040725" iyy="0.081579" iyz="-0.0072024" izz="0.0060081" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/right_hip_pitch_link.STL" />
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|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
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</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.2" rpy="0 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.05" length="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="right_hip_pitch_joint" type="revolute">
|
|
<origin xyz="0 -0.11536 0" rpy="0 0 0" />
|
|
<parent link="right_hip_roll_link" />
|
|
<child link="right_hip_pitch_link" />
|
|
<axis xyz="0 1 0" />
|
|
<limit lower="-3.14" upper="2.53" effort="200" velocity="23" />
|
|
</joint>
|
|
<link name="right_knee_link">
|
|
<inertial>
|
|
<origin xyz="-0.00136 0.00512 -0.1384" rpy="0 0 0" />
|
|
<mass value="1.721" />
|
|
<inertia ixx="0.012205" ixy="6.8431E-05" ixz="0.0010862" iyy="0.012509" iyz="-0.00022549" izz="0.0020629" />
|
|
</inertial>
|
|
<visual>
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|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
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<mesh filename="meshes/right_knee_link.STL" />
|
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</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.2" rpy="0 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.05" length="0.2"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="right_knee_joint" type="revolute">
|
|
<origin xyz="0 0 -0.4" rpy="0 0 0" />
|
|
<parent link="right_hip_pitch_link" />
|
|
<child link="right_knee_link" />
|
|
<axis xyz="0 1 0" />
|
|
<limit lower="-0.26" upper="2.05" effort="300" velocity="14" />
|
|
</joint>
|
|
<link name="right_ankle_link">
|
|
<inertial>
|
|
<origin xyz="0.042575 0.000001 -0.044672" rpy="0 0 0" />
|
|
<mass value="0.474" />
|
|
<inertia ixx="0.000159668" ixy="0.000000005" ixz="0.000141063" iyy="0.002900286" iyz="-0.000000014" izz="0.002805438" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/right_ankle_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0.05 0.0 -0.05" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.28 0.03 0.024"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="right_ankle_joint" type="revolute">
|
|
<origin xyz="0 0 -0.4" rpy="0 0 0" />
|
|
<parent link="right_knee_link" />
|
|
<child link="right_ankle_link" />
|
|
<axis xyz="0 1 0" />
|
|
<limit lower="-0.87" upper="0.52" effort="40" velocity="9" />
|
|
</joint>
|
|
<link name="torso_link">
|
|
<inertial>
|
|
<origin xyz="0.000489 0.002797 0.20484" rpy="0 0 0" />
|
|
<mass value="17.789" />
|
|
<inertia ixx="0.4873" ixy="-0.00053763" ixz="0.0020276" iyy="0.40963" iyz="-0.00074582" izz="0.12785" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/torso_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0.15" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.08 0.16 0.1"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="torso_joint" type="revolute">
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<parent link="pelvis" />
|
|
<child link="torso_link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-2.35" upper="2.35" effort="200" velocity="23" />
|
|
</joint>
|
|
<link name="left_shoulder_pitch_link">
|
|
<inertial>
|
|
<origin xyz="0.005045 0.053657 -0.015715" rpy="0 0 0" />
|
|
<mass value="1.033" />
|
|
<inertia ixx="0.0012985" ixy="-1.7333E-05" ixz="8.683E-06" iyy="0.00087279" iyz="3.9656E-05" izz="0.00097338" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/left_shoulder_pitch_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 -0.05 0" rpy="1.5707963267948966192313216916398 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.03" length="0.04"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="left_shoulder_pitch_joint" type="revolute">
|
|
<origin xyz="0.0055 0.15535 0.42999" rpy="0.43633 0 0" />
|
|
<parent link="torso_link" />
|
|
<child link="left_shoulder_pitch_link" />
|
|
<axis xyz="0 1 0" />
|
|
<limit lower="-2.87" upper="2.87" effort="40" velocity="9" />
|
|
</joint>
|
|
<link name="left_shoulder_roll_link">
|
|
<inertial>
|
|
<origin xyz="0.000679 0.00115 -0.094076" rpy="0 0 0" />
|
|
<mass value="0.793" />
|
|
<inertia ixx="0.0015742" ixy="2.298E-06" ixz="-7.2265E-05" iyy="0.0016973" iyz="-6.3691E-05" izz="0.0010183" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/left_shoulder_roll_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.04" rpy="0 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.04" length="0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="left_shoulder_roll_joint" type="revolute">
|
|
<origin xyz="-0.0055 0.0565 -0.0165" rpy="-0.43633 0 0" />
|
|
<parent link="left_shoulder_pitch_link" />
|
|
<child link="left_shoulder_roll_link" />
|
|
<axis xyz="1 0 0" />
|
|
<limit lower="-0.34" upper="3.11" effort="40" velocity="9" />
|
|
</joint>
|
|
<link name="left_shoulder_yaw_link">
|
|
<inertial>
|
|
<origin xyz="0.01365 0.002767 -0.16266" rpy="0 0 0" />
|
|
<mass value="0.839" />
|
|
<inertia ixx="0.003664" ixy="-1.0671E-05" ixz="0.00034733" iyy="0.0040789" iyz="7.0213E-05" izz="0.00066383" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/left_shoulder_yaw_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.11" rpy="0 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.04" length="0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="left_shoulder_yaw_joint" type="revolute">
|
|
<origin xyz="0 0 -0.1343" rpy="0 0 0" />
|
|
<parent link="left_shoulder_roll_link" />
|
|
<child link="left_shoulder_yaw_link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-1.3" upper="4.45" effort="18" velocity="20" />
|
|
</joint>
|
|
<link name="left_elbow_link">
|
|
<inertial>
|
|
<origin xyz="0.164862 0.000118 -0.015734" rpy="0 0 0" />
|
|
<mass value="0.723" />
|
|
<inertia ixx="0.00049639" ixy="-0.000033971" ixz="0.000316026" iyy="0.006456355" iyz="0.000004929" izz="0.006450997" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/left_elbow_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0.125 0 0" rpy="0 1.57 0" />
|
|
<geometry>
|
|
<cylinder radius="0.03" length="0.09"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="left_elbow_joint" type="revolute">
|
|
<origin xyz="0.0185 0 -0.198" rpy="0 0 0" />
|
|
<parent link="left_shoulder_yaw_link" />
|
|
<child link="left_elbow_link" />
|
|
<axis xyz="0 1 0" />
|
|
<limit lower="-1.25" upper="2.61" effort="18" velocity="20" />
|
|
</joint>
|
|
<link name="left_hand_link">
|
|
<inertial>
|
|
<origin xyz="0.003993 -0.000094 0" rpy="0 0 0" />
|
|
<mass value="0.014" />
|
|
<inertia ixx="0.000003449" ixy="0.000000006" ixz="0" iyy="0.000001917" iyz="0" izz="0.000001932" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/left_hand_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/left_hand_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="left_hand_joint" type="revolute">
|
|
<origin xyz="0.2605 0 -0.0185" rpy="0 0 0" />
|
|
<parent link="left_elbow_link" />
|
|
<child link="left_hand_link" />
|
|
<axis xyz="1 0 0" />
|
|
<limit lower="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="6" velocity="12" />
|
|
</joint>
|
|
<joint name="L_base_link_joint" type="fixed">
|
|
<origin xyz="0.003 0 0" rpy="0 0 1.5707963267948966192313216916398" />
|
|
<parent link="left_hand_link"/>
|
|
<child link="L_hand_base_link"/>
|
|
</joint>
|
|
|
|
<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="-0.1" upper="0.6" 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>
|
|
|
|
<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_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_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_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="right_shoulder_pitch_link">
|
|
<inertial>
|
|
<origin xyz="0.005045 -0.053657 -0.015715" rpy="0 0 0" />
|
|
<mass value="1.033" />
|
|
<inertia ixx="0.0012985" ixy="1.7333E-05" ixz="8.683E-06" iyy="0.00087279" iyz="-3.9656E-05" izz="0.00097338" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/right_shoulder_pitch_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0.05 0" rpy="-1.5707963267948966192313216916398 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.03" length="0.04"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="right_shoulder_pitch_joint" type="revolute">
|
|
<origin xyz="0.0055 -0.15535 0.42999" rpy="-0.43633 0 0" />
|
|
<parent link="torso_link" />
|
|
<child link="right_shoulder_pitch_link" />
|
|
<axis xyz="0 1 0" />
|
|
<limit lower="-2.87" upper="2.87" effort="40" velocity="9" />
|
|
</joint>
|
|
<link name="right_shoulder_roll_link">
|
|
<inertial>
|
|
<origin xyz="0.000679 -0.00115 -0.094076" rpy="0 0 0" />
|
|
<mass value="0.793" />
|
|
<inertia ixx="0.0015742" ixy="-2.298E-06" ixz="-7.2265E-05" iyy="0.0016973" iyz="6.3691E-05" izz="0.0010183" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/right_shoulder_roll_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.04" rpy="0 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.04" length="0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="right_shoulder_roll_joint" type="revolute">
|
|
<origin xyz="-0.0055 -0.0565 -0.0165" rpy="0.43633 0 0" />
|
|
<parent link="right_shoulder_pitch_link" />
|
|
<child link="right_shoulder_roll_link" />
|
|
<axis xyz="1 0 0" />
|
|
<limit lower="-3.11" upper="0.34" effort="40" velocity="9" />
|
|
</joint>
|
|
<link name="right_shoulder_yaw_link">
|
|
<inertial>
|
|
<origin xyz="0.01365 -0.002767 -0.16266" rpy="0 0 0" />
|
|
<mass value="0.839" />
|
|
<inertia ixx="0.003664" ixy="1.0671E-05" ixz="0.00034733" iyy="0.0040789" iyz="-7.0213E-05" izz="0.00066383" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/right_shoulder_yaw_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 -0.11" rpy="0 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.04" length="0.01"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="right_shoulder_yaw_joint" type="revolute">
|
|
<origin xyz="0 0 -0.1343" rpy="0 0 0" />
|
|
<parent link="right_shoulder_roll_link" />
|
|
<child link="right_shoulder_yaw_link" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="-4.45" upper="1.3" effort="18" velocity="20" />
|
|
</joint>
|
|
<link name="right_elbow_link">
|
|
<inertial>
|
|
<origin xyz="0.164862 -0.000118 -0.015734" rpy="0 0 0" />
|
|
<mass value="0.723" />
|
|
<inertia ixx="0.00049639" ixy="0.000033971" ixz="0.000316026" iyy="0.006456355" iyz="-0.000004929" izz="0.006450997" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/right_elbow_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0.125 0 0" rpy="0 1.57 0" />
|
|
<geometry>
|
|
<cylinder radius="0.03" length="0.09"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="right_elbow_joint" type="revolute">
|
|
<origin xyz="0.0185 0 -0.198" rpy="0 0 0" />
|
|
<parent link="right_shoulder_yaw_link" />
|
|
<child link="right_elbow_link" />
|
|
<axis xyz="0 1 0" />
|
|
<limit lower="-1.25" upper="2.61" effort="18" velocity="20" />
|
|
</joint>
|
|
<link name="right_hand_link">
|
|
<inertial>
|
|
<origin xyz="0.003993 0.000094 0" rpy="0 0 0" />
|
|
<mass value="0.014" />
|
|
<inertia ixx="0.000003449" ixy="-0.000000006" ixz="0" iyy="0.000001917" iyz="0" izz="0.000001932" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/right_hand_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/right_hand_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="right_hand_joint" type="revolute">
|
|
<origin xyz="0.2605 0 -0.0185" rpy="0 0 0" />
|
|
<parent link="right_elbow_link" />
|
|
<child link="right_hand_link" />
|
|
<axis xyz="1 0 0" />
|
|
<limit lower="-3.0543261909900767596164588448551" upper="3.0543261909900767596164588448551" effort="6" velocity="12" />
|
|
</joint>
|
|
|
|
<joint name="R_base_link_joint" type="fixed">
|
|
<origin xyz="0.003 0 0" rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
|
|
<parent link="right_hand_link"/>
|
|
<child link="R_hand_base_link"/>
|
|
</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="-0.1" upper="0.6" 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_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_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_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_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="logo_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="meshes/logo_link.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
|
|
</link>
|
|
<joint name="logo_joint" type="fixed">
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<parent link="torso_link" />
|
|
<child link="logo_link" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
|
|
|
|
<link name="d435_left_imager_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.001" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.001" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="d435_left_imager_joint" type="fixed">
|
|
<origin xyz="0.10848474394 0.0175 0.69317107367" rpy="-2.45735 0 -1.57080" />
|
|
<parent link="torso_link" />
|
|
<child link="d435_left_imager_link" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
<link name="d435_rgb_module_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.001" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.001" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="d435_rgb_module_joint" type="fixed">
|
|
<origin xyz="0.10848474394 0.0325 0.69317107367" rpy="-2.45735 0 -1.57080" />
|
|
<parent link="torso_link" />
|
|
<child link="d435_rgb_module_link" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
<link name="mid360_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.001" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.001" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="mid360_joint" type="fixed">
|
|
<origin xyz="0.04729990180 0 0.67492878653" rpy="0 0.243124 0" />
|
|
<parent link="torso_link" />
|
|
<child link="mid360_link" />
|
|
<axis xyz="0 0 0" />
|
|
</joint>
|
|
|
|
|
|
</robot>
|