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<?xml version="1.0" encoding="utf-8"?> |
|
|
<robot name="leap_left"> |
|
|
<link name="base"/> |
|
|
<joint name="base_joint" type="fixed"> |
|
|
<parent link="base"/> |
|
|
<child link="palm_lower_left"/> |
|
|
<origin xyz="0.015 0.055 0.17" rpy="0 -1.57079 0"/> |
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</joint> |
|
|
|
|
|
<link name="palm_lower_left"> |
|
|
<visual> |
|
|
<origin xyz="-0.0955 -0.1170 0.0207" rpy="1.57079 0 3.14159" /> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/palm_lower_left.obj"/> |
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|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="-0.0848 -0.0996 0.0152" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.022 0.026 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.0848 -0.0546 0.0152" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.022 0.026 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.0848 -0.0096 0.0152" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.022 0.026 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.1428 -0.0126 0.0147" rpy="0 0 0.2967"/> |
|
|
<geometry> |
|
|
<box size="0.058 0.02 0.046"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.1058 -0.0555 0.0232" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.12 0.03"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.1078 -0.0555 0.0002" rpy="0 0.785 0"/> |
|
|
<geometry> |
|
|
<box size="0.01 0.12 0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.1238 -0.0575 0.0147" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.024 0.116 0.046"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.1538 -0.0375 0.0147" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.044 0.052 0.046"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.1738 -0.0815 0.0202" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.004 0.036 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.1538 -0.0875 0.0362" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.044 0.056 0.004"/> |
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|
</geometry> |
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|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.235"/> |
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|
<inertia ixx="0.000351007" ixy="-0.000001393" ixz="-0.000000694" iyy="0.000523205" iyz="-0.000003085" izz="0.000256996"/> |
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|
</inertial> |
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|
</link> |
|
|
<link name="mcp_joint"> |
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|
<visual> |
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|
<origin xyz="0.0084 0.0077 0.01465" rpy="0 0 0"/> |
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|
<geometry> |
|
|
<mesh filename="meshes/visual/mcp_joint.obj"/> |
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|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0.018 0.0147" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.006 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.027 0.042 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.028 0.04 0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.0262 0.02 0.0146" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.006 0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.0295 0.035 0.029" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.024 0.008"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.005 0.03" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.005 -0.001" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.044"/> |
|
|
<inertia ixx="0.000011499" ixy="0.000003049" ixz="0.000000121" iyy="0.000007796" iyz="0.000000112" izz="0.000014759"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="pip"> |
|
|
<visual> |
|
|
<origin xyz="0.0096 0.0002 0.0007" rpy="-1.57079 -1.57079 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/pip.obj"/> |
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|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0.0075 -0.0002 -0.011" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.026 0.022"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.032"/> |
|
|
<inertia ixx="0.000004798" ixy="0.000000012" ixz="0.000000004" iyy="0.000002862" iyz="0.000000011" izz="0.000004234"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="dip"> |
|
|
<visual> |
|
|
<origin xyz="0.0211 -0.0084 0.0097" rpy="-3.1415926 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/dip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 -0.02 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.016 0.006 0.026"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.016 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.004 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.0045 0.03" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.0045 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0.0075 -0.035 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.022 0.026"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.037"/> |
|
|
<inertia ixx="0.000005542" ixy="-0.000000607" ixz="-0.000000017" iyy="0.000005727" iyz="-0.000000023" izz="0.000006682"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="fingertip"> |
|
|
<visual> |
|
|
<origin xyz="0.0132 -0.0061 0.0144" rpy="3.1415926 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/fingertip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 -0.017 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.006 0.03"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.006 0.03" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.022 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.006 -0.001" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.022 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/collision/white_tip.obj"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.016"/> |
|
|
<inertia ixx="0.000003368" ixy="0.000000115" ixz="0" iyy="0.000001556" iyz="0" izz="0.000002863"/> |
|
|
</inertial> |
|
|
</link> |
|
|
|
|
|
<joint name="0" type="revolute"> |
|
|
<origin xyz="-0.0122 0.03810 0.01450" rpy="-1.57079 0 1.57079"/> |
|
|
<parent link="mcp_joint"/> |
|
|
<child link="pip"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-1.047" upper="1.047"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="1" type="revolute"> |
|
|
<origin xyz="-0.0825 -0.0857 0.0078" rpy="1.57079 1.57079 0"/> |
|
|
<parent link="palm_lower_left"/> |
|
|
<child link="mcp_joint"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-0.314" upper="2.23"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="2" type="revolute"> |
|
|
<origin xyz="0.015 0.0143 -0.013" rpy="1.57079 -1.57079 0"/> |
|
|
<parent link="pip"/> |
|
|
<child link="dip"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-0.506" upper="1.885"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="3" type="revolute"> |
|
|
<origin xyz="0 -0.0361 0.0002" rpy="0 0 0"/> |
|
|
<parent link="dip"/> |
|
|
<child link="fingertip"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-0.366" upper="2.042"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<link name="mcp_joint_2"> |
|
|
<visual> |
|
|
<origin xyz="0.0084 0.0077 0.01465" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/mcp_joint.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0.018 0.0147" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.006 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.027 0.042 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.028 0.04 0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.0262 0.02 0.0146" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.006 0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.0295 0.035 0.029" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.024 0.008"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.005 0.03" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.005 -0.001" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.044"/> |
|
|
<inertia ixx="0.000011499" ixy="0.000003049" ixz="0.000000121" iyy="0.000007796" iyz="0.000000112" izz="0.000014759"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="pip_2"> |
|
|
<visual> |
|
|
<origin xyz="0.0096 0.0003 0.0007" rpy="-1.57079 -1.57079 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/pip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0.0075 -0.0002 -0.011" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.026 0.022"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.032"/> |
|
|
<inertia ixx="0.000004798" ixy="0.000000012" ixz="0.000000004" iyy="0.000002862" iyz="0.000000011" izz="0.000004234"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="dip_2"> |
|
|
<visual> |
|
|
<origin xyz="0.0211 -0.0084 0.0097" rpy="-3.14159 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/dip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 -0.02 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.016 0.006 0.026"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.016 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.004 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.0045 0.03" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.0045 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0.0075 -0.035 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.022 0.026"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.037"/> |
|
|
<inertia ixx="0.000005542" ixy="-0.000000607" ixz="-0.000000017" iyy="0.000005727" iyz="-0.000000023" izz="0.000006682"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="fingertip_2"> |
|
|
<visual> |
|
|
<origin xyz="0.0132 -0.0061 0.01450" rpy="3.14159 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/fingertip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 -0.017 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.006 0.03"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.006 0.03" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.022 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.006 -0.001" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.022 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/collision/white_tip.obj"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.016"/> |
|
|
<inertia ixx="0.000003368" ixy="0.000000115" ixz="0" iyy="0.000001556" iyz="0" izz="0.000002863"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<joint name="4" type="revolute"> |
|
|
<origin xyz="-0.0122 0.0381 0.0145" rpy="-1.57079 0 1.57079"/> |
|
|
<parent link="mcp_joint_2"/> |
|
|
<child link="pip_2"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-1.047" upper="1.047"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="5" type="revolute"> |
|
|
<origin xyz="-0.0825 -0.0403 0.0078" rpy="1.57079 1.57079 0"/> |
|
|
<parent link="palm_lower_left"/> |
|
|
<child link="mcp_joint_2"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-0.314" upper="2.23"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="6" type="revolute"> |
|
|
<origin xyz="0.015 0.0143 -0.013" rpy="1.57079 -1.57079 0"/> |
|
|
<parent link="pip_2"/> |
|
|
<child link="dip_2"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-0.506" upper="1.885"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="7" type="revolute"> |
|
|
<origin xyz="0 -0.0361 0.0002" rpy="0 0 0"/> |
|
|
<parent link="dip_2"/> |
|
|
<child link="fingertip_2"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-0.366" upper="2.042"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<link name="mcp_joint_3"> |
|
|
<visual> |
|
|
<origin xyz="0.0084 0.0077 0.01465" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/mcp_joint.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0.018 0.0147" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.006 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.027 0.042 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.028 0.04 0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.0262 0.02 0.0146" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.006 0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.0295 0.035 0.029" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.024 0.008"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.005 0.03" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.005 -0.001" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.044"/> |
|
|
<inertia ixx="0.000011499" ixy="0.000003049" ixz="0.000000121" iyy="0.000007796" iyz="0.000000112" izz="0.000014759"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="pip_3"> |
|
|
<visual> |
|
|
<origin xyz="0.0096 0.0003 0.0007" rpy="-1.57079 -1.57079 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/pip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0.0075 -0.0002 -0.011" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.026 0.022"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.032"/> |
|
|
<inertia ixx="0.000004798" ixy="0.000000012" ixz="0.000000004" iyy="0.000002862" iyz="0.000000011" izz="0.000004234"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="dip_3"> |
|
|
<visual> |
|
|
<origin xyz="0.0211 -0.0084 0.0097" rpy="-3.14159 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/dip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 -0.02 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.016 0.006 0.026"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.016 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.004 0.034"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.0045 0.03" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.0045 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0.0075 -0.035 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.022 0.026"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.037"/> |
|
|
<inertia ixx="0.000005542" ixy="-0.000000607" ixz="-0.000000017" iyy="0.000005727" iyz="-0.000000023" izz="0.000006682"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="fingertip_3"> |
|
|
<visual> |
|
|
<origin xyz="0.0132 -0.0061 0.0145" rpy="3.14159 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/fingertip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 -0.017 0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.006 0.03"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.006 0.03" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.022 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.006 -0.001" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.022 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/collision/white_tip.obj"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.016"/> |
|
|
<inertia ixx="0.000003368" ixy="0.000000115" ixz="0" iyy="0.000001556" iyz="0" izz="0.000002863"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<joint name="8" type="revolute"> |
|
|
<origin xyz="-0.0122 0.0381 0.0145" rpy="-1.57079 0 1.57079"/> |
|
|
<parent link="mcp_joint_3"/> |
|
|
<child link="pip_3"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-1.047" upper="1.047"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="9" type="revolute"> |
|
|
<origin xyz="-0.0825 0.0051 0.0078" rpy="1.57079 1.57079 0"/> |
|
|
<parent link="palm_lower_left"/> |
|
|
<child link="mcp_joint_3"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-0.314" upper="2.23"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="10" type="revolute"> |
|
|
<origin xyz="0.015 0.0143 -0.013" rpy="1.57079 -1.57079 0"/> |
|
|
<parent link="pip_3"/> |
|
|
<child link="dip_3"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-0.506" upper="1.885"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="11" type="revolute"> |
|
|
<origin xyz="0 -0.03609 0.0002" rpy="0 0 0"/> |
|
|
<parent link="dip_3"/> |
|
|
<child link="fingertip_3"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-0.366" upper="2.042"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<link name="thumb_left_temp_base"> |
|
|
<visual> |
|
|
<origin xyz="0.0439 0.0068 0.02146" rpy="1.57079 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/pip_left.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="-0.0069 0 -0.0109"/> |
|
|
<geometry> |
|
|
<box size="0.034 0.026 0.022"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.032"/> |
|
|
<inertia ixx="0.000004798" ixy="0.000000012" ixz="0.000000004" iyy="0.000002862" iyz="0.000000011" izz="0.000004234"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="thumb_pip"> |
|
|
<visual> |
|
|
<origin xyz="0.01196 0 -0.0158" rpy="1.57079 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/thumb_pip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 -0.0015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.018 0.033 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.015 -0.013" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.004 0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.015 -0.013" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.004 0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.003"/> |
|
|
<inertia ixx="0.000000593" ixy="0" ixz="0" iyy="0.000000549" iyz="0" izz="0.000000224"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="thumb_dip"> |
|
|
<visual> |
|
|
<origin xyz="0.0439 0.0579 -0.0086" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/thumb_dip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0.0105 -0.014" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.04 0.024"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.031 -0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.004 0.032"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.042 0.001" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0.042 -0.029" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.014 0.02 0.004"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="-0.0135 0.0175 -0.011656" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.01 0.024 0.018"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.038"/> |
|
|
<inertia ixx="0.000008474" ixy="0.000000241" ixz="0.000000026" iyy="0.000003841" iyz="0.000000025" izz="0.000007679"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<link name="thumb_fingertip"> |
|
|
<visual> |
|
|
<origin xyz="0.0625 0.0784 0.0489" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/visual/thumb_fingertip.obj"/> |
|
|
</geometry> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 -0.0085 -0.015" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.036 0.024"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 -0.029 -0.014" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.02 0.004 0.03"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0.015 -0.0175 -0.0115" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<box size="0.008 0.024 0.018"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<collision> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<geometry> |
|
|
<mesh filename="meshes/collision/white_tip_thumb.obj"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
<inertial> |
|
|
<origin xyz="0 0 0" rpy="0 0 0"/> |
|
|
<mass value="0.049"/> |
|
|
<inertia ixx="0.000020372" ixy="-0.000000489" ixz="-0.00000003" iyy="0.000004336" iyz="-0.000000097" izz="0.000019845"/> |
|
|
</inertial> |
|
|
</link> |
|
|
<joint name="12" type="revolute"> |
|
|
<origin xyz="-0.1448 -0.0900 0.0049" rpy="0 1.57079 0"/> |
|
|
<parent link="palm_lower_left"/> |
|
|
<child link="thumb_left_temp_base"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-2.094" upper="0.349"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="13" type="revolute"> |
|
|
<origin xyz="0 -0.0143 -0.013" rpy="-1.57079 -1.57079 0"/> |
|
|
<parent link="thumb_left_temp_base"/> |
|
|
<child link="thumb_pip"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-2.443" upper="0.47"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="14" type="revolute"> |
|
|
<origin xyz="0 0.0145 -0.017" rpy="-1.57079 0 0"/> |
|
|
<parent link="thumb_pip"/> |
|
|
<child link="thumb_dip"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-1.20" upper="1.90"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
<joint name="15" type="revolute"> |
|
|
<origin xyz="0 0.0466 0.0002" rpy="0 0 3.14159"/> |
|
|
<parent link="thumb_dip"/> |
|
|
<child link="thumb_fingertip"/> |
|
|
<axis xyz="0 0 -1"/> |
|
|
<limit effort="0.95" velocity="8.48" lower="-1.34" upper="1.88"/> |
|
|
<joint_properties friction="0.0"/> |
|
|
</joint> |
|
|
|
|
|
|
|
|
<link name="thumb_tip_head"/> |
|
|
<link name="index_tip_head"/> |
|
|
<link name="middle_tip_head"/> |
|
|
<link name="ring_tip_head"/> |
|
|
<joint name="thumb_tip" type="fixed"> |
|
|
<parent link="thumb_fingertip"/> |
|
|
<child link="thumb_tip_head"/> |
|
|
<origin rpy="0 0 0" xyz="0 -0.06 -0.015"/> |
|
|
</joint> |
|
|
<joint name="index_tip" type="fixed"> |
|
|
<parent link="fingertip"/> |
|
|
<child link="index_tip_head"/> |
|
|
<origin rpy="0 0 0" xyz="0 -0.048 0.015"/> |
|
|
</joint> |
|
|
<joint name="middle_tip" type="fixed"> |
|
|
<parent link="fingertip_2"/> |
|
|
<child link="middle_tip_head"/> |
|
|
<origin rpy="0 0 0" xyz="0 -0.048 0.015"/> |
|
|
</joint> |
|
|
<joint name="ring_tip" type="fixed"> |
|
|
<parent link="fingertip_3"/> |
|
|
<child link="ring_tip_head"/> |
|
|
<origin rpy="0 0 0" xyz="0 -0.048 0.015"/> |
|
|
</joint> |
|
|
</robot> |
|
|
|
