Hugging Face's logo

Datasets:
ridiculouslzx
/
robots

Modalities:
3D
Dataset card Data Studio Files
xet
Community
1
ridiculouslzx commited on
Commit
ef79962
·
1 Parent(s): d18c44c

add robots

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. GR1/README.md +21 -0
  2. GR1/gr1t1/basic_urdf/gr1t1.urdf +1102 -0
  3. GR1/gr1t1/basic_urdf/gr1t1_dummy_hand.urdf +963 -0
  4. GR1/gr1t1/meshes/dummy_hand/dummy_left_hand.STL +3 -0
  5. GR1/gr1t1/meshes/dummy_hand/dummy_right_hand.STL +3 -0
  6. GR1/gr1t1/meshes/fourier_hand_6dof/L_hand_base_link.STL +3 -0
  7. GR1/gr1t1/meshes/fourier_hand_6dof/L_index_intermediate_link.STL +3 -0
  8. GR1/gr1t1/meshes/fourier_hand_6dof/L_index_proximal_link.STL +3 -0
  9. GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_intermediate_link.STL +3 -0
  10. GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_proximal_link.STL +3 -0
  11. GR1/gr1t1/meshes/fourier_hand_6dof/L_pinky_intermediate_link.STL +3 -0
  12. GR1/gr1t1/meshes/fourier_hand_6dof/L_pinky_proximal_link.STL +3 -0
  13. GR1/gr1t1/meshes/fourier_hand_6dof/L_ring_intermediate_link.STL +3 -0
  14. GR1/gr1t1/meshes/fourier_hand_6dof/L_ring_proximal_link.STL +3 -0
  15. GR1/gr1t1/meshes/fourier_hand_6dof/L_thumb_distal_link.STL +3 -0
  16. GR1/gr1t1/meshes/fourier_hand_6dof/L_thumb_proximal_pitch_link.STL +3 -0
  17. GR1/gr1t1/meshes/fourier_hand_6dof/L_thumb_proximal_yaw_link.STL +3 -0
  18. GR1/gr1t1/meshes/fourier_hand_6dof/R_hand_base_link.STL +3 -0
  19. GR1/gr1t1/meshes/fourier_hand_6dof/R_index_intermediate_link.STL +3 -0
  20. GR1/gr1t1/meshes/fourier_hand_6dof/R_index_proximal_link.STL +3 -0
  21. GR1/gr1t1/meshes/fourier_hand_6dof/R_middle_intermediate_link.STL +3 -0
  22. GR1/gr1t1/meshes/fourier_hand_6dof/R_middle_proximal_link.STL +3 -0
  23. GR1/gr1t1/meshes/fourier_hand_6dof/R_pinky_intermediate_link.STL +3 -0
  24. GR1/gr1t1/meshes/fourier_hand_6dof/R_pinky_proximal_link.STL +3 -0
  25. GR1/gr1t1/meshes/fourier_hand_6dof/R_ring_intermediate_link.STL +3 -0
  26. GR1/gr1t1/meshes/fourier_hand_6dof/R_ring_proximal_link.STL +3 -0
  27. GR1/gr1t1/meshes/fourier_hand_6dof/R_thumb_distal_link.STL +3 -0
  28. GR1/gr1t1/meshes/fourier_hand_6dof/R_thumb_proximal_pitch_link.STL +3 -0
  29. GR1/gr1t1/meshes/fourier_hand_6dof/R_thumb_proximal_yaw_link.STL +3 -0
  30. GR1/gr1t1/meshes/gr1t1/IMU_link.STL +3 -0
  31. GR1/gr1t1/meshes/gr1t1/base_link.STL +3 -0
  32. GR1/gr1t1/meshes/gr1t1/head_pitch_link.STL +3 -0
  33. GR1/gr1t1/meshes/gr1t1/head_roll_link.STL +3 -0
  34. GR1/gr1t1/meshes/gr1t1/head_yaw_link.STL +3 -0
  35. GR1/gr1t1/meshes/gr1t1/left_foot_pitch_link.STL +3 -0
  36. GR1/gr1t1/meshes/gr1t1/left_foot_roll_link.STL +3 -0
  37. GR1/gr1t1/meshes/gr1t1/left_hand_pitch_link.STL +3 -0
  38. GR1/gr1t1/meshes/gr1t1/left_hand_roll_link.STL +3 -0
  39. GR1/gr1t1/meshes/gr1t1/left_hand_yaw_link.STL +3 -0
  40. GR1/gr1t1/meshes/gr1t1/left_lower_arm_pitch_link.STL +3 -0
  41. GR1/gr1t1/meshes/gr1t1/left_shank_pitch_link.STL +3 -0
  42. GR1/gr1t1/meshes/gr1t1/left_thigh_pitch_link.STL +3 -0
  43. GR1/gr1t1/meshes/gr1t1/left_thigh_roll_link.STL +3 -0
  44. GR1/gr1t1/meshes/gr1t1/left_thigh_yaw_link.STL +3 -0
  45. GR1/gr1t1/meshes/gr1t1/left_upper_arm_pitch_link.STL +3 -0
  46. GR1/gr1t1/meshes/gr1t1/left_upper_arm_roll_link.STL +3 -0
  47. GR1/gr1t1/meshes/gr1t1/left_upper_arm_yaw_link.STL +3 -0
  48. GR1/gr1t1/meshes/gr1t1/right_foot_pitch_link.STL +3 -0
  49. GR1/gr1t1/meshes/gr1t1/right_foot_roll_link.STL +3 -0
  50. GR1/gr1t1/meshes/gr1t1/right_hand_pitch_link.STL +3 -0
GR1/README.md ADDED
@@ -0,0 +1,21 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Name table of robot for clarify
2
+ > *Notice: There are two types of dexterous hand, fourier hand and inspire hand. Select the correct `urdf` with the hand you have.*
3
+
4
+ | Product Name | Code Name |
5
+ | :----------: | :--------: |
6
+ | GR-1 | GR1T1 with dexterous hand |
7
+ | GR-1L | GR1T1 with fourier jaw |
8
+ | GR-1 Pro | GR1T2 with dexterous hand |
9
+ | GR-1L Pro | GR1T2 with fourier jaw |
10
+
11
+ # Model List
12
+ - GR1T1
13
+ - GR1T1_jaw: The `urdf` for GR1T1 with foueire jaw.
14
+ - GR1T1_fourier_hand: The `urdf` for GR1T1 with fourier hand.
15
+ - GR1T1_inspire_hand: The `urdf` for GR1T1 with inspire hand.
16
+ - GR1T2:
17
+ - GR1T2_jaw: The `urdf` for GR1T2 with fourier jaw.
18
+ - GR1T2_fourier_hand: The `urdf` for GR1T2 with fourier hand.
19
+ - GR1T2_inspire_hand: The `urdf` for GR1T2 with inspire hand.
20
+
21
+
GR1/gr1t1/basic_urdf/gr1t1.urdf ADDED
@@ -0,0 +1,1102 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <!-- 10082024-alpha-1 -->
3
+ <robot name="gr1t2">
4
+ <link name="base_link">
5
+ <inertial>
6
+ <origin xyz="-0.06584 -9.765E-5 -0.01434" rpy="0 0 0" />
7
+ <mass value="3.84" />
8
+ <inertia ixx="0.03190" ixy="-3.35E-6" ixz="-0.001722" iyy="0.01048" iyz="-1.394E-5" izz="0.03496" />
9
+ </inertial>
10
+ <visual>
11
+ <origin xyz="0 0 0" rpy="0 0 0" />
12
+ <geometry>
13
+ <mesh filename="../meshes/gr1t1/base_link.STL" />
14
+ </geometry>
15
+ <material name="">
16
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
17
+ </material>
18
+ </visual>
19
+ <collision name="base_link.STL">
20
+ <origin xyz="-0.0425828586396115 0.0003700415157537537 0.009210089875386126" rpy="-1.5715560967510487 0.006752722386712318 -0.006757854813246755" />
21
+ <geometry>
22
+ <cylinder radius="0.12239433188500067" length="0.1371007021179978" />
23
+ </geometry>
24
+ </collision>
25
+ </link>
26
+ <link name="left_thigh_roll_link">
27
+ <inertial>
28
+ <origin xyz="-0.0327 9.169E-5 0.002323" rpy="0 0 0" />
29
+ <mass value="1.45" />
30
+ <inertia ixx="0.001545" ixy="8.2E-7" ixz="-2.999E-5" iyy="0.002427" iyz="-7.46E-6" izz="0.002505" />
31
+ </inertial>
32
+ <visual>
33
+ <origin xyz="0 0 0" rpy="0 0 0" />
34
+ <geometry>
35
+ <mesh filename="../meshes/gr1t1/left_thigh_roll_link.STL" />
36
+ </geometry>
37
+ <material name="">
38
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
39
+ </material>
40
+ </visual>
41
+ <!-- <collision>
42
+ <origin
43
+ xyz="0 0 0"
44
+ rpy="0 0 0" />
45
+ <geometry>
46
+ <mesh
47
+ filename="../meshes/gr1t1/left_thigh_roll_link.STL" />
48
+ </geometry>
49
+ </collision> -->
50
+ </link>
51
+ <joint name="left_hip_roll_joint" type="revolute">
52
+ <origin xyz="-0.0025 0.105 -0.0276" rpy="0 0 0" />
53
+ <parent link="base_link" />
54
+ <child link="left_thigh_roll_link" />
55
+ <axis xyz="1 0 0" />
56
+ <limit lower="-0.09" upper="0.79" effort="48" velocity="12.15" />
57
+ </joint>
58
+ <link name="left_thigh_yaw_link">
59
+ <inertial>
60
+ <origin xyz="-0.00019288 0.03547 -0.1073" rpy="0 0 0" />
61
+ <mass value="3.17" />
62
+ <inertia ixx="0.01555" ixy="-0.0001138" ixz="0.0001964" iyy="0.01777" iyz="0.003461" izz="0.006507" />
63
+ </inertial>
64
+ <visual>
65
+ <origin xyz="0 0 0" rpy="0 0 0" />
66
+ <geometry>
67
+ <mesh filename="../meshes/gr1t1/left_thigh_yaw_link.STL" />
68
+ </geometry>
69
+ <material name="">
70
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
71
+ </material>
72
+ </visual>
73
+ <!-- <collision>
74
+ <origin
75
+ xyz="0 0 0"
76
+ rpy="0 0 0" />
77
+ <geometry>
78
+ <mesh
79
+ filename="../meshes/gr1t1/left_thigh_yaw_link.STL" />
80
+ </geometry>
81
+ </collision> -->
82
+ </link>
83
+ <joint name="left_hip_yaw_joint" type="revolute">
84
+ <origin xyz="0 0 0" rpy="0 0 0" />
85
+ <parent link="left_thigh_roll_link" />
86
+ <child link="left_thigh_yaw_link" />
87
+ <axis xyz="0 0 1" />
88
+ <limit lower="-0.7" upper="0.7" effort="66" velocity="16.76" />
89
+ </joint>
90
+ <link name="left_thigh_pitch_link">
91
+ <inertial>
92
+ <origin xyz="0.001419 -0.02869 -0.05999" rpy="0 0 0" />
93
+ <mass value="7.99" />
94
+ <inertia ixx="0.07222" ixy="-7.201e-5" ixz="0.001533" iyy="0.07244" iyz="-0.003014" izz="0.02139" />
95
+ </inertial>
96
+ <visual>
97
+ <origin xyz="0 0 0" rpy="0 0 0" />
98
+ <geometry>
99
+ <mesh filename="../meshes/gr1t1/left_thigh_pitch_link.STL" />
100
+ </geometry>
101
+ <material name="">
102
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
103
+ </material>
104
+ </visual>
105
+ <collision name="left_thigh_pitch_link.STL">
106
+ <origin xyz="0.0007000513673618543 -0.03015965784976181 -0.1670560397414535" rpy="0 0 0 " />
107
+ <geometry>
108
+ <cylinder radius="0.08587689590118133" length="0.24982894507630515" />
109
+ </geometry>
110
+ </collision>
111
+ </link>
112
+ <joint name="left_hip_pitch_joint" type="revolute">
113
+ <origin xyz="0 0.0223 -0.1405" rpy="0 0 0" />
114
+ <parent link="left_thigh_yaw_link" />
115
+ <child link="left_thigh_pitch_link" />
116
+ <axis xyz="0 1 0" />
117
+ <limit lower="-1.75" upper="0.7" effort="225" velocity="37.38" />
118
+ </joint>
119
+ <link name="left_shank_pitch_link">
120
+ <inertial>
121
+ <origin xyz="0.001724 -3.024E-5 -0.1128" rpy="0 0 0" />
122
+ <mass value="1.93" />
123
+ <inertia ixx="0.009915" ixy="-2.24E-6" ixz="-1.716E-5" iyy="0.009913" iyz="-0.0001199" izz="0.0009499" />
124
+ </inertial>
125
+ <visual>
126
+ <origin xyz="0 0 0" rpy="0 0 0" />
127
+ <geometry>
128
+ <mesh filename="../meshes/gr1t1/left_shank_pitch_link.STL" />
129
+ </geometry>
130
+ <material name="">
131
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
132
+ </material>
133
+ </visual>
134
+ <collision name="left_shank_pitch_link.STL">
135
+ <origin xyz="-1.659010853856773e-05 -0.000842546786771745 -0.17469107292397335" rpy="-3.1410836913690487 0.0024586308191354433 -2.733338485212507" />
136
+ <geometry>
137
+ <cylinder radius="0.05332138187428352" length="0.18076995129198576" />
138
+ </geometry>
139
+ </collision>
140
+ </link>
141
+ <joint name="left_knee_pitch_joint" type="revolute">
142
+ <origin xyz="0 -0.0213 -0.36" rpy="0 0 0" />
143
+ <parent link="left_thigh_pitch_link" />
144
+ <child link="left_shank_pitch_link" />
145
+ <axis xyz="0 1 0" />
146
+ <limit lower="-0.09" upper="1.92" effort="225" velocity="37.38" />
147
+ </joint>
148
+ <link name="left_foot_pitch_link">
149
+ <inertial>
150
+ <origin xyz="0.0284 0.00121 -0.0293" rpy="0 0 0" />
151
+ <mass value="0.538" />
152
+ <inertia ixx="0.000394" ixy="-9.64E-6" ixz="0.000173" iyy="0.00232" iyz="4.36E-6" izz="0.002474" />
153
+ </inertial>
154
+ <visual>
155
+ <origin xyz="0 0 0" rpy="0 0 0" />
156
+ <geometry>
157
+ <mesh filename="../meshes/gr1t1/left_foot_pitch_link.STL" />
158
+ </geometry>
159
+ <material name="">
160
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
161
+ </material>
162
+ </visual>
163
+ <!-- <collision>
164
+ <origin
165
+ xyz="0 0 0"
166
+ rpy="0 0 0" />
167
+ <geometry>
168
+ <mesh
169
+ filename="../meshes/gr1t1/left_foot_pitch_link.STL" />
170
+ </geometry>
171
+ </collision> -->
172
+ </link>
173
+ <joint name="left_ankle_pitch_joint" type="revolute">
174
+ <origin xyz="0 0 -0.34" rpy="0 0 0" />
175
+ <parent link="left_shank_pitch_link" />
176
+ <child link="left_foot_pitch_link" />
177
+ <axis xyz="0 1 0" />
178
+ <limit lower="-1.05" upper="0.52" effort="15" velocity="20.32" />
179
+ </joint>
180
+ <link name="left_foot_roll_link">
181
+ <inertial>
182
+ <origin xyz="0.0284 0.00121 -0.0293" rpy="0 0 0" />
183
+ <mass value="0.538" />
184
+ <inertia ixx="0.000394" ixy="-9.64E-6" ixz="0.000173" iyy="0.00232" iyz="4.36E-6" izz="0.002474" />
185
+ </inertial>
186
+ <visual>
187
+ <origin xyz="0 0 0" rpy="0 0 0" />
188
+ <geometry>
189
+ <mesh filename="../meshes/gr1t1/left_foot_roll_link.STL" />
190
+ </geometry>
191
+ <material name="">
192
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
193
+ </material>
194
+ </visual>
195
+ <collision name="l_foot_1">
196
+ <origin rpy="0 1.5708 0" xyz="0.05 0.02 -0.035" />
197
+ <geometry>
198
+ <cylinder length="0.24" radius="0.02" />
199
+ </geometry>
200
+ </collision>
201
+ <collision name="l_foot_2">
202
+ <origin rpy="0 1.5708 0" xyz="0.05 -0.02 -0.035" />
203
+ <geometry>
204
+ <cylinder length="0.24" radius="0.02" />
205
+ </geometry>
206
+ </collision>
207
+ </link>
208
+ <joint name="left_ankle_roll_joint" type="revolute">
209
+ <origin xyz="0 0 0" rpy="0 0 0" />
210
+ <parent link="left_foot_pitch_link" />
211
+ <child link="left_foot_roll_link" />
212
+ <axis xyz="1 0 0" />
213
+ <limit lower="-0.44" upper="0.44" effort="30" velocity="20.32" />
214
+ </joint>
215
+ <link name="right_thigh_roll_link">
216
+ <inertial>
217
+ <origin xyz="-0.0325 -7.432E-5 0.002322" rpy="0 0 0" />
218
+ <mass value="1.45" />
219
+ <inertia ixx="0.001545" ixy="8.68E-6" ixz="-3.071E-5" iyy="0.002445" iyz="7.47E-6" izz="0.002523" />
220
+ </inertial>
221
+ <visual>
222
+ <origin xyz="0 0 0" rpy="0 0 0" />
223
+ <geometry>
224
+ <mesh filename="../meshes/gr1t1/right_thigh_roll_link.STL" />
225
+ </geometry>
226
+ <material name="">
227
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
228
+ </material>
229
+ </visual>
230
+ <!-- <collision>
231
+ <origin
232
+ xyz="0 0 0"
233
+ rpy="0 0 0" />
234
+ <geometry>
235
+ <mesh
236
+ filename="../meshes/gr1t1/right_thigh_roll_link.STL" />
237
+ </geometry>
238
+ </collision> -->
239
+ </link>
240
+ <joint name="right_hip_roll_joint" type="revolute">
241
+ <origin xyz="-0.0025 -0.105 -0.0276" rpy="0 0 0" />
242
+ <parent link="base_link" />
243
+ <child link="right_thigh_roll_link" />
244
+ <axis xyz="1 0 0" />
245
+ <limit lower="-0.79" upper="0.09" effort="48" velocity="12.15" />
246
+ </joint>
247
+ <link name="right_thigh_yaw_link">
248
+ <inertial>
249
+ <origin xyz="-0.0001289 -0.03547 -0.1132" rpy="0 0 0" />
250
+ <mass value="3.17" />
251
+ <inertia ixx="0.01555" ixy="8.397E-5" ixz="5.579E-5" iyy="0.01777" iyz="-0.003462" izz="0.006503" />
252
+ </inertial>
253
+ <visual>
254
+ <origin xyz="0 0 0" rpy="0 0 0" />
255
+ <geometry>
256
+ <mesh filename="../meshes/gr1t1/right_thigh_yaw_link.STL" />
257
+ </geometry>
258
+ <material name="">
259
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
260
+ </material>
261
+ </visual>
262
+ <!-- <collision>
263
+ <origin
264
+ xyz="0 0 0"
265
+ rpy="0 0 0" />
266
+ <geometry>
267
+ <mesh
268
+ filename="../meshes/gr1t1/right_thigh_yaw_link.STL" />
269
+ </geometry>
270
+ </collision> -->
271
+ </link>
272
+ <joint name="right_hip_yaw_joint" type="revolute">
273
+ <origin xyz="0 0 0" rpy="0 0 0" />
274
+ <parent link="right_thigh_roll_link" />
275
+ <child link="right_thigh_yaw_link" />
276
+ <axis xyz="0 0 1" />
277
+ <limit lower="-0.7" upper="0.7" effort="66" velocity="16.76" />
278
+ </joint>
279
+ <link name="right_thigh_pitch_link">
280
+ <inertial>
281
+ <origin xyz="0.00151 0.02868 -0.0598" rpy="0 0 0" />
282
+ <mass value="7.99" />
283
+ <inertia ixx="0.07228" ixy="5.837E-5" ixz="0.001505" iyy="0.07250" iyz="0.002950" izz="0.0214" />
284
+ </inertial>
285
+ <visual>
286
+ <origin xyz="0 0 0" rpy="0 0 0" />
287
+ <geometry>
288
+ <mesh filename="../meshes/gr1t1/right_thigh_pitch_link.STL" />
289
+ </geometry>
290
+ <material name="">
291
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
292
+ </material>
293
+ </visual>
294
+ <collision name="right_thigh_pitch_link.STL">
295
+ <origin xyz="-0.0021232671369708286 0.0301596122658223 -0.16705638592" rpy="0.005397062281218166 0.014125499755146664 3.8118827309907216e-05" />
296
+ <geometry>
297
+ <cylinder radius="0.0858779947877418" length="0.24982123520352716" />
298
+ </geometry>
299
+ </collision>
300
+ </link>
301
+ <joint name="right_hip_pitch_joint" type="revolute">
302
+ <origin xyz="0 -0.0223 -0.1405" rpy="0 0 0" />
303
+ <parent link="right_thigh_yaw_link" />
304
+ <child link="right_thigh_pitch_link" />
305
+ <axis xyz="0 1 0" />
306
+ <limit lower="-1.75" upper="0.7" effort="225" velocity="37.38" />
307
+ </joint>
308
+ <link name="right_shank_pitch_link">
309
+ <inertial>
310
+ <origin xyz="0.00172 3.024E-5 -0.1128" rpy="0 0 0" />
311
+ <mass value="1.93" />
312
+ <inertia ixx="0.009905" ixy="2.58E-6" ixz="-5.473E-5" iyy="0.009913" iyz="0.0001198" izz="0.0009603" />
313
+ </inertial>
314
+ <visual>
315
+ <origin xyz="0 0 0" rpy="0 0 0" />
316
+ <geometry>
317
+ <mesh filename="../meshes/gr1t1/right_shank_pitch_link.STL" />
318
+ </geometry>
319
+ <material name="">
320
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
321
+ </material>
322
+ </visual>
323
+ <collision name="right_shank_pitch_link.STL">
324
+ <origin xyz="-1.6590107921902e-5 -0.000842557381796573 -0.17469872467626" rpy="0 0 0" />
325
+ <geometry>
326
+ <cylinder radius="0.053321055277056" length="0.180768239886" />
327
+ </geometry>
328
+ </collision>
329
+ </link>
330
+ <joint name="right_knee_pitch_joint" type="revolute">
331
+ <origin xyz="0 0.0213 -0.36" rpy="0 0 0" />
332
+ <parent link="right_thigh_pitch_link" />
333
+ <child link="right_shank_pitch_link" />
334
+ <axis xyz="0 1 0" />
335
+ <limit lower="-0.09" upper="1.92" effort="225" velocity="37.38" />
336
+ </joint>
337
+ <link name="right_foot_pitch_link">
338
+ <inertial>
339
+ <origin xyz="0.0284 -0.00121 -0.0293" rpy="0 0 0" />
340
+ <mass value="0.538" />
341
+ <inertia ixx="0.000394" ixy="9.6E-6" ixz="0.000173" iyy="0.00232" iyz="-4.36E-6" izz="0.00247" />
342
+ </inertial>
343
+ <visual>
344
+ <origin xyz="0 0 0" rpy="0 0 0" />
345
+ <geometry>
346
+ <mesh filename="../meshes/gr1t1/right_foot_pitch_link.STL" />
347
+ </geometry>
348
+ <material name="">
349
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
350
+ </material>
351
+ </visual>
352
+ <!-- <collision>
353
+ <origin
354
+ xyz="0 0 0"
355
+ rpy="0 0 0" />
356
+ <geometry>
357
+ <mesh
358
+ filename="../meshes/gr1t1/right_foot_pitch_link.STL" />
359
+ </geometry>
360
+ </collision> -->
361
+ </link>
362
+ <joint name="right_ankle_pitch_joint" type="revolute">
363
+ <origin xyz="0 0 -0.34" rpy="0 0 0" />
364
+ <parent link="right_shank_pitch_link" />
365
+ <child link="right_foot_pitch_link" />
366
+ <axis xyz="0 1 0" />
367
+ <limit lower="-1.05" upper="0.52" effort="15" velocity="20.32" />
368
+ </joint>
369
+ <link name="right_foot_roll_link">
370
+ <inertial>
371
+ <origin xyz="0.0284 -0.00121 -0.0293" rpy="0 0 0" />
372
+ <mass value="0.538" />
373
+ <inertia ixx="0.000394" ixy="9.6E-6" ixz="0.000173" iyy="0.00232" iyz="-4.36E-6" izz="0.00247" />
374
+ </inertial>
375
+ <visual>
376
+ <origin xyz="0 0 0" rpy="0 0 0" />
377
+ <geometry>
378
+ <mesh filename="../meshes/gr1t1/right_foot_roll_link.STL" />
379
+ </geometry>
380
+ <material name="">
381
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
382
+ </material>
383
+ </visual>
384
+ <collision name="r_foot_1">
385
+ <origin rpy="0 1.5708 0" xyz="0.05 0.02 -0.035" />
386
+ <geometry>
387
+ <cylinder length="0.24" radius="0.02" />
388
+ </geometry>
389
+ </collision>
390
+ <collision name="r_foot_2">
391
+ <origin rpy="0 1.5708 0" xyz="0.05 -0.02 -0.035" />
392
+ <geometry>
393
+ <cylinder length="0.24" radius="0.02" />
394
+ </geometry>
395
+ </collision>
396
+ </link>
397
+ <joint name="right_ankle_roll_joint" type="revolute">
398
+ <origin xyz="0 0 0" rpy="0 0 0" />
399
+ <parent link="right_foot_pitch_link" />
400
+ <child link="right_foot_roll_link" />
401
+ <axis xyz="1 0 0" />
402
+ <limit lower="-0.44" upper="0.44" effort="30" velocity="20.32" />
403
+ </joint>
404
+ <link name="waist_yaw_link">
405
+ <inertial>
406
+ <origin xyz="-0.002641 -0.009332 0.05066" rpy="0 0 0" />
407
+ <mass value="1.49" />
408
+ <inertia ixx="0.00302" ixy="3.832E-5" ixz="1.016E-5" iyy="0.002711" iyz="0.0005105" izz="0.001679" />
409
+ </inertial>
410
+ <visual>
411
+ <origin xyz="0 0 0" rpy="0 0 0" />
412
+ <geometry>
413
+ <mesh filename="../meshes/gr1t1/waist_yaw_link.STL" />
414
+ </geometry>
415
+ <material name="">
416
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
417
+ </material>
418
+ </visual>
419
+ <!-- <collision>
420
+ <origin
421
+ xyz="0 0 0"
422
+ rpy="0 0 0" />
423
+ <geometry>
424
+ <mesh
425
+ filename="../meshes/gr1t1/waist_yaw_link.STL" />
426
+ </geometry>
427
+ </collision> -->
428
+ </link>
429
+ <joint name="waist_yaw_joint" type="revolute">
430
+ <origin xyz="0 0 0" rpy="0 0 0" />
431
+ <parent link="base_link" />
432
+ <child link="waist_yaw_link" />
433
+ <axis xyz="0 0 1" />
434
+ <limit lower="-1.05" upper="1.05" effort="66" velocity="16.76" />
435
+ </joint>
436
+ <link name="waist_pitch_link">
437
+ <inertial>
438
+ <origin xyz="0.00451 -0.00439 0.0406" rpy="0 0 0" />
439
+ <mass value="1.62" />
440
+ <inertia ixx="0.00456" ixy="-2.99E-5" ixz="-0.0002541" iyy="0.004563" iyz="-0.0002748" izz="0.001855" />
441
+ </inertial>
442
+ <visual>
443
+ <origin xyz="0 0 0" rpy="0 0 0" />
444
+ <geometry>
445
+ <mesh filename="../meshes/gr1t1/waist_pitch_link.STL" />
446
+ </geometry>
447
+ <material name="">
448
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
449
+ </material>
450
+ </visual>
451
+ <!-- <collision>
452
+ <origin
453
+ xyz="0 0 0"
454
+ rpy="0 0 0" />
455
+ <geometry>
456
+ <mesh
457
+ filename="../meshes/gr1t1/waist_pitch_link.STL" />
458
+ </geometry>
459
+ </collision> -->
460
+ </link>
461
+ <joint name="waist_pitch_joint" type="revolute">
462
+ <origin xyz="0 0 0.0873" rpy="0 0 0" />
463
+ <parent link="waist_yaw_link" />
464
+ <child link="waist_pitch_link" />
465
+ <axis xyz="0 1 0" />
466
+ <limit lower="-0.52" upper="1.22" effort="66" velocity="16.76" />
467
+ </joint>
468
+ <link name="waist_roll_link">
469
+ <inertial>
470
+ <origin xyz="0.01038 -1.48E-6 0.01312" rpy="0 0 0" />
471
+ <mass value="0.91" />
472
+ <inertia ixx="0.001" ixy="-1E-8" ixz="0.0001508" iyy="0.001226" iyz="8E-8" izz="0.001087" />
473
+ </inertial>
474
+ <visual>
475
+ <origin xyz="0 0 0" rpy="0 0 0" />
476
+ <geometry>
477
+ <mesh filename="../meshes/gr1t1/waist_roll_link.STL" />
478
+ </geometry>
479
+ <material name="">
480
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
481
+ </material>
482
+ </visual>
483
+ <!-- <collision>
484
+ <origin
485
+ xyz="0 0 0"
486
+ rpy="0 0 0" />
487
+ <geometry>
488
+ <mesh
489
+ filename="../meshes/gr1t1/waist_roll_link.STL" />
490
+ </geometry>
491
+ </collision> -->
492
+ </link>
493
+ <joint name="waist_roll_joint" type="revolute">
494
+ <origin xyz="0 0 0.081" rpy="0 0 0" />
495
+ <parent link="waist_pitch_link" />
496
+ <child link="waist_roll_link" />
497
+ <axis xyz="1 0 0" />
498
+ <limit lower="-0.7" upper="0.7" effort="66" velocity="16.76" />
499
+ </joint>
500
+ <link name="torso_link">
501
+ <inertial>
502
+ <origin xyz="-0.00667 0.0001533 0.01837" rpy="0 0 0" />
503
+ <mass value="6.40" />
504
+ <inertia ixx="0.04162" ixy="2.011E-5" ixz="-0.001691" iyy="0.03127" iyz="1.097E-5" izz="0.02553" />
505
+ </inertial>
506
+ <visual>
507
+ <origin xyz="0 0 0" rpy="0 0 0" />
508
+ <geometry>
509
+ <mesh filename="../meshes/gr1t1/torso_link.STL" />
510
+ </geometry>
511
+ <material name="">
512
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
513
+ </material>
514
+ </visual>
515
+ <collision name="torso_link.STL">
516
+ <origin xyz="-0.0158159258618006 0.005195369607133852 -0.01252051000214107" rpy="0 0 0" />
517
+ <geometry>
518
+ <cylinder radius="0.12742740516179015" length="0.1603859984881334" />
519
+ </geometry>
520
+ </collision>
521
+ </link>
522
+ <joint name="torso_joint" type="fixed">
523
+ <origin xyz="-0.00414 0 0.16071" rpy="0 0 0" />
524
+ <parent link="waist_roll_link" />
525
+ <child link="torso_link" />
526
+ <axis xyz="0 0 0" />
527
+ </joint>
528
+ <link name="left_upper_arm_pitch_link">
529
+ <inertial>
530
+ <origin xyz="0.00323 0.05324 0.000192" rpy="0 0 0" />
531
+ <mass value="0.81" />
532
+ <inertia ixx="0.002024" ixy="-9.67E-5" ixz="-4.2E-7" iyy="0.0005" iyz="1.71E-6" izz="0.001957" />
533
+ </inertial>
534
+ <visual>
535
+ <origin xyz="0 0 0" rpy="0 0 0" />
536
+ <geometry>
537
+ <mesh filename="../meshes/gr1t1/left_upper_arm_pitch_link.STL" />
538
+ </geometry>
539
+ <material name="">
540
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
541
+ </material>
542
+ </visual>
543
+ <!-- <collision>
544
+ <origin
545
+ xyz="0 0 0"
546
+ rpy="0 0 0" />
547
+ <geometry>
548
+ <mesh
549
+ filename="../meshes/gr1t1/left_upper_arm_pitch_link.STL" />
550
+ </geometry>
551
+ </collision> -->
552
+ </link>
553
+ <joint name="left_shoulder_pitch_joint" type="revolute">
554
+ <origin xyz="0 0.10111 0.047149" rpy="0.43633 0 0" />
555
+ <parent link="torso_link" />
556
+ <child link="left_upper_arm_pitch_link" />
557
+ <axis xyz="0 1 0" />
558
+ <limit lower="-2.79" upper="1.92" effort="38" velocity="9.11" />
559
+ </joint>
560
+ <link name="left_upper_arm_roll_link">
561
+ <inertial>
562
+ <origin xyz="0.003427 0.01466 -0.02316" rpy="0 0 0" />
563
+ <mass value="0.5" />
564
+ <inertia ixx="0.0008749" ixy="-1.593E-5" ixz="2.96E-6" iyy="0.0006958" iyz="0.0002863" izz="0.0004119" />
565
+ </inertial>
566
+ <visual>
567
+ <origin xyz="0 0 0" rpy="0 0 0" />
568
+ <geometry>
569
+ <mesh filename="../meshes/gr1t1/left_upper_arm_roll_link.STL" />
570
+ </geometry>
571
+ <material name="">
572
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
573
+ </material>
574
+ </visual>
575
+ <!-- <collision>
576
+ <origin
577
+ xyz="0 0 0"
578
+ rpy="0 0 0" />
579
+ <geometry>
580
+ <mesh
581
+ filename="../meshes/gr1t1/left_upper_arm_roll_link.STL" />
582
+ </geometry>
583
+ </collision> -->
584
+ </link>
585
+ <joint name="left_shoulder_roll_joint" type="revolute">
586
+ <origin xyz="0 0.09515 0" rpy="-0.43633 0 0" />
587
+ <parent link="left_upper_arm_pitch_link" />
588
+ <child link="left_upper_arm_roll_link" />
589
+ <axis xyz="1 0 0" />
590
+ <limit lower="-0.57" upper="3.27" effort="38" velocity="9.11" />
591
+ </joint>
592
+ <link name="left_upper_arm_yaw_link">
593
+ <inertial>
594
+ <origin xyz="5.47E-5 0.002013 -0.0852" rpy="0 0 0" />
595
+ <mass value="0.55" />
596
+ <inertia ixx="0.003544" ixy="-1.8E-7" ixz="-1.75E-6" iyy="0.003537" iyz="9.928E-5" izz="0.0002512" />
597
+ </inertial>
598
+ <visual>
599
+ <origin xyz="0 0 0" rpy="0 0 0" />
600
+ <geometry>
601
+ <mesh filename="../meshes/gr1t1/left_upper_arm_yaw_link.STL" />
602
+ </geometry>
603
+ <material name="">
604
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
605
+ </material>
606
+ </visual>
607
+ <collision name="left_upper_arm_yaw_link.STL">
608
+ <origin xyz="3.948544275722503e-05 -0.0008942898235348745 -0.079340036492981" rpy="-3.1255954464984725 0.0015124792767218231 -0.1885285227575202" />
609
+ <geometry>
610
+ <cylinder radius="0.03623321337242011" length="0.1698839909625244" />
611
+ </geometry>
612
+ </collision>
613
+ </link>
614
+ <joint name="left_shoulder_yaw_joint" type="revolute">
615
+ <origin xyz="0 0.04 -0.07095" rpy="0 0 0" />
616
+ <parent link="left_upper_arm_roll_link" />
617
+ <child link="left_upper_arm_yaw_link" />
618
+ <axis xyz="0 0 1" />
619
+ <limit lower="-2.97" upper="2.97" effort="30" velocity="7.33" />
620
+ </joint>
621
+ <link name="left_lower_arm_pitch_link">
622
+ <inertial>
623
+ <origin xyz="3.31E-6 0.007846 -0.02549" rpy="0 0 0" />
624
+ <mass value="0.32" />
625
+ <inertia ixx="0.0002916" ixy="1E-8" ixz="-6E-8" iyy="0.0002848" iyz="-4.858E-5" izz="0.0001090" />
626
+ </inertial>
627
+ <visual>
628
+ <origin xyz="0 0 0" rpy="0 0 0" />
629
+ <geometry>
630
+ <mesh filename="../meshes/gr1t1/left_lower_arm_pitch_link.STL" />
631
+ </geometry>
632
+ <material name="">
633
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
634
+ </material>
635
+ </visual>
636
+ <!-- <collision>
637
+ <origin
638
+ xyz="0 0 0"
639
+ rpy="0 0 0" />
640
+ <geometry>
641
+ <mesh
642
+ filename="../meshes/gr1t1/left_lower_arm_pitch_link.STL" />
643
+ </geometry>
644
+ </collision> -->
645
+ </link>
646
+ <joint name="left_elbow_pitch_joint" type="revolute">
647
+ <origin xyz="0 0 -0.1751" rpy="0 0 0" />
648
+ <parent link="left_upper_arm_yaw_link" />
649
+ <child link="left_lower_arm_pitch_link" />
650
+ <axis xyz="0 1 0" />
651
+ <limit lower="-2.27" upper="2.27" effort="30" velocity="7.33" />
652
+ </joint>
653
+ <link name="left_hand_yaw_link">
654
+ <inertial>
655
+ <origin xyz="-2.923E-5 0.002124 -0.06117" rpy="0 0 0" />
656
+ <mass value="0.89" />
657
+ <inertia ixx="0.001867" ixy="3.1E-7" ixz="1.064E-5" iyy="0.001863" iyz="1.649E-5" izz="0.0003211" />
658
+ </inertial>
659
+ <visual>
660
+ <origin xyz="0 0 0" rpy="0 0 0" />
661
+ <geometry>
662
+ <mesh filename="../meshes/gr1t1/left_hand_yaw_link.STL" />
663
+ </geometry>
664
+ <material name="">
665
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
666
+ </material>
667
+ </visual>
668
+ <collision name="left_hand_yaw_link.STL">
669
+ <origin xyz="0.0010892501812804515 -0.0015411136604867 -0.07604285011805535" rpy="0 0 0" />
670
+ <geometry>
671
+ <cylinder radius="0.04157192402358859" length="0.1391873595177893" />
672
+ </geometry>
673
+ </collision>
674
+ </link>
675
+ <joint name="left_wrist_yaw_joint" type="revolute">
676
+ <origin xyz="0 5.033E-05 -0.05395" rpy="0 0 0" />
677
+ <parent link="left_lower_arm_pitch_link" />
678
+ <child link="left_hand_yaw_link" />
679
+ <axis xyz="0 0 1" />
680
+ <limit lower="-2.97" upper="2.97" effort="10.2" velocity="24.4" />
681
+ </joint>
682
+ <link name="left_hand_roll_link">
683
+ <inertial>
684
+ <origin xyz="0 0.001292 -0.01174" rpy="0 0 0" />
685
+ <mass value="0.02955" />
686
+ <inertia ixx="5.38E-6" ixy="0" ixz="0" iyy="1E-5" iyz="-4.6E-7" izz="8.92E-6" />
687
+ </inertial>
688
+ <visual>
689
+ <origin xyz="0 0 0" rpy="0 0 0" />
690
+ <geometry>
691
+ <mesh filename="../meshes/gr1t1/left_hand_roll_link.STL" />
692
+ </geometry>
693
+ <material name="">
694
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
695
+ </material>
696
+ </visual>
697
+ <!-- <collision>
698
+ <origin
699
+ xyz="0 0 0"
700
+ rpy="0 0 0" />
701
+ <geometry>
702
+ <mesh
703
+ filename="../meshes/gr1t1/left_hand_roll_link.STL" />
704
+ </geometry>
705
+ </collision> -->
706
+ </link>
707
+ <joint name="left_wrist_roll_joint" type="revolute">
708
+ <origin xyz="0 0 -0.18765" rpy="0 0 0" />
709
+ <parent link="left_hand_yaw_link" />
710
+ <child link="left_hand_roll_link" />
711
+ <axis xyz="1 0 0" />
712
+ <limit lower="-0.87" upper="0.96" effort="3.95" velocity="27.96" />
713
+ </joint>
714
+ <link name="left_hand_pitch_link">
715
+ <inertial>
716
+ <origin xyz="0 0.001292 -0.01174" rpy="0 0 0" />
717
+ <mass value="0.02955" />
718
+ <inertia ixx="5.38E-6" ixy="0" ixz="0" iyy="1E-5" iyz="-4.6E-7" izz="8.92E-6" />
719
+ </inertial>
720
+ <visual>
721
+ <origin xyz="0 0 0" rpy="0 0 0" />
722
+ <geometry>
723
+ <mesh filename="../meshes/gr1t1/left_hand_pitch_link.STL" />
724
+ </geometry>
725
+ <material name="">
726
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
727
+ </material>
728
+ </visual>
729
+ <!-- <collision>
730
+ <origin
731
+ xyz="0 0 0"
732
+ rpy="0 0 0" />
733
+ <geometry>
734
+ <mesh
735
+ filename="../meshes/gr1t1/left_hand_pitch_link.STL" />
736
+ </geometry>
737
+ </collision> -->
738
+ </link>
739
+ <joint name="left_wrist_pitch_joint" type="revolute">
740
+ <origin xyz="0 0 0" rpy="0 0 0" />
741
+ <parent link="left_hand_roll_link" />
742
+ <child link="left_hand_pitch_link" />
743
+ <axis xyz="0 1 0" />
744
+ <limit lower="-0.61" upper="0.61" effort="3.95" velocity="27.96" />
745
+ </joint>
746
+ <link name="left_end_effector_link">
747
+ </link>
748
+ <joint name="left_end_effector_joint" type="fixed">
749
+ <origin xyz="0 0 -0.023" rpy="0 0 0" />
750
+ <parent link="left_hand_pitch_link" />
751
+ <child link="left_end_effector_link" />
752
+ </joint>
753
+ <link name="right_upper_arm_pitch_link">
754
+ <inertial>
755
+ <origin xyz="0.00324 -0.0533 0.000185" rpy="0 0 0" />
756
+ <mass value="0.81" />
757
+ <inertia ixx="0.00203" ixy="0.000104" ixz="2.96E-7" iyy="0.000499" iyz="-1.1E-6" izz="0.001960" />
758
+ </inertial>
759
+ <visual>
760
+ <origin xyz="0 0 0" rpy="0 0 0" />
761
+ <geometry>
762
+ <mesh filename="../meshes/gr1t1/right_upper_arm_pitch_link.STL" />
763
+ </geometry>
764
+ <material name="">
765
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
766
+ </material>
767
+ </visual>
768
+ <!-- <collision>
769
+ <origin
770
+ xyz="0 0 0"
771
+ rpy="0 0 0" />
772
+ <geometry>
773
+ <mesh
774
+ filename="../meshes/gr1t1/right_upper_arm_pitch_link.STL" />
775
+ </geometry>
776
+ </collision> -->
777
+ </link>
778
+ <joint name="right_shoulder_pitch_joint" type="revolute">
779
+ <origin xyz="0 -0.10111 0.047149" rpy="-0.43633 0 0" />
780
+ <parent link="torso_link" />
781
+ <child link="right_upper_arm_pitch_link" />
782
+ <axis xyz="0 1 0" />
783
+ <limit lower="-2.79" upper="1.92" effort="38" velocity="9.11" />
784
+ </joint>
785
+ <link name="right_upper_arm_roll_link">
786
+ <inertial>
787
+ <origin xyz="0.00342 -0.0147 -0.0232" rpy="0 0 0" />
788
+ <mass value="0.5" />
789
+ <inertia ixx="0.000875" ixy="1.598E-5" ixz="2.96E-6" iyy="0.000696" iyz="-0.0002866" izz="0.0004121" />
790
+ </inertial>
791
+ <visual>
792
+ <origin xyz="0 0 0" rpy="0 0 0" />
793
+ <geometry>
794
+ <mesh filename="../meshes/gr1t1/right_upper_arm_roll_link.STL" />
795
+ </geometry>
796
+ <material name="">
797
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
798
+ </material>
799
+ </visual>
800
+ <!-- <collision>
801
+ <origin
802
+ xyz="0 0 0"
803
+ rpy="0 0 0" />
804
+ <geometry>
805
+ <mesh
806
+ filename="../meshes/gr1t1/right_upper_arm_roll_link.STL" />
807
+ </geometry>
808
+ </collision> -->
809
+ </link>
810
+ <joint name="right_shoulder_roll_joint" type="revolute">
811
+ <origin xyz="0 -0.09515 0" rpy="0.43633 0 0" />
812
+ <parent link="right_upper_arm_pitch_link" />
813
+ <child link="right_upper_arm_roll_link" />
814
+ <axis xyz="1 0 0" />
815
+ <limit lower="-3.27" upper="0.57" effort="38" velocity="9.11" />
816
+ </joint>
817
+ <link name="right_upper_arm_yaw_link">
818
+ <inertial>
819
+ <origin xyz="7.6E-5 -0.002032 -0.08519" rpy="0 0 0" />
820
+ <mass value="0.55" />
821
+ <inertia ixx="0.003543" ixy="-1.9E-7" ixz="-1.49E-6" iyy="0.003536" iyz="-9.89E-5" izz="0.0002512" />
822
+ </inertial>
823
+ <visual>
824
+ <origin xyz="0 0 0" rpy="0 0 0" />
825
+ <geometry>
826
+ <mesh filename="../meshes/gr1t1/right_upper_arm_yaw_link.STL" />
827
+ </geometry>
828
+ <material name="">
829
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
830
+ </material>
831
+ </visual>
832
+ <collision name="right_upper_arm_yaw_link.STL">
833
+ <origin xyz="3.948544275722503e-05 0.0008942898235348745 -0.079340036492981" rpy="0 0 0" />
834
+ <geometry>
835
+ <cylinder radius="0.03623321337242011" length="0.1698839909625244" />
836
+ </geometry>
837
+ </collision>
838
+ </link>
839
+ <joint name="right_shoulder_yaw_joint" type="revolute">
840
+ <origin xyz="0 -0.04 -0.07095" rpy="0 0 0" />
841
+ <parent link="right_upper_arm_roll_link" />
842
+ <child link="right_upper_arm_yaw_link" />
843
+ <axis xyz="0 0 1" />
844
+ <limit lower="-2.97" upper="2.97" effort="30" velocity="7.33" />
845
+ </joint>
846
+ <link name="right_lower_arm_pitch_link">
847
+ <inertial>
848
+ <origin xyz="-1.69E-6 -0.007855 -0.02549" rpy="0 0 0" />
849
+ <mass value="0.32" />
850
+ <inertia ixx="0.0002914" ixy="2E-8" ixz="1E-8" iyy="0.0002847" iyz="4.85E-5" izz="0.000109" />
851
+ </inertial>
852
+ <visual>
853
+ <origin xyz="0 0 0" rpy="0 0 0" />
854
+ <geometry>
855
+ <mesh filename="../meshes/gr1t1/right_lower_arm_pitch_link.STL" />
856
+ </geometry>
857
+ <material name="">
858
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
859
+ </material>
860
+ </visual>
861
+ <!-- <collision>
862
+ <origin
863
+ xyz="0 0 0"
864
+ rpy="0 0 0" />
865
+ <geometry>
866
+ <mesh
867
+ filename="../meshes/gr1t1/right_lower_arm_pitch_link.STL" />
868
+ </geometry>
869
+ </collision> -->
870
+ </link>
871
+ <joint name="right_elbow_pitch_joint" type="revolute">
872
+ <origin xyz="0 0 -0.1751" rpy="0 0 0" />
873
+ <parent link="right_upper_arm_yaw_link" />
874
+ <child link="right_lower_arm_pitch_link" />
875
+ <axis xyz="0 1 0" />
876
+ <limit lower="-2.27" upper="2.27" effort="30" velocity="7.33" />
877
+ </joint>
878
+ <link name="right_hand_yaw_link">
879
+ <inertial>
880
+ <origin xyz="3.90E-5 -0.00212 -0.06117" rpy="0 0 0" />
881
+ <mass value="0.89" />
882
+ <inertia ixx="0.001866" ixy="3E-7" ixz="-1.091E-5" iyy="0.001862" iyz="-1.679E-5" izz="0.0003211" />
883
+ </inertial>
884
+ <visual>
885
+ <origin xyz="0 0 0" rpy="0 0 0" />
886
+ <geometry>
887
+ <mesh filename="../meshes/gr1t1/right_hand_yaw_link.STL" />
888
+ </geometry>
889
+ <material name="">
890
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
891
+ </material>
892
+ </visual>
893
+ <collision name="right_hand_yaw_link.STL">
894
+ <origin xyz="0.0010892501812804515 0.0006411136604867 -0.07604285011805535" rpy="0 0 0" />
895
+ <geometry>
896
+ <cylinder radius="0.04157192402358859" length="0.1391873595177893" />
897
+ </geometry>
898
+ </collision>
899
+ </link>
900
+ <joint name="right_wrist_yaw_joint" type="revolute">
901
+ <origin xyz="0 -5.033E-05 -0.05395" rpy="0 0 0" />
902
+ <parent link="right_lower_arm_pitch_link" />
903
+ <child link="right_hand_yaw_link" />
904
+ <axis xyz="0 0 1" />
905
+ <limit lower="-2.97" upper="2.97" effort="10.2" velocity="24.4" />
906
+ </joint>
907
+ <link name="right_hand_roll_link">
908
+ <inertial>
909
+ <origin xyz="0 -0.00129 -0.0117" rpy="0 0 0" />
910
+ <mass value="0.0295" />
911
+ <inertia ixx="5.38E-6" ixy="0" ixz="0" iyy="1E-5" iyz="4.6E-7" izz="8.92E-6" />
912
+ </inertial>
913
+ <visual>
914
+ <origin xyz="0 0 0" rpy="0 0 0" />
915
+ <geometry>
916
+ <mesh filename="../meshes/gr1t1/right_hand_roll_link.STL" />
917
+ </geometry>
918
+ <material name="">
919
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
920
+ </material>
921
+ </visual>
922
+ <!-- <collision>
923
+ <origin
924
+ xyz="0 0 0"
925
+ rpy="0 0 0" />
926
+ <geometry>
927
+ <mesh
928
+ filename="../meshes/gr1t1/right_hand_roll_link.STL" />
929
+ </geometry>
930
+ </collision> -->
931
+ </link>
932
+ <joint name="right_wrist_roll_joint" type="revolute">
933
+ <origin xyz="0 0 -0.18765" rpy="0 0 0" />
934
+ <parent link="right_hand_yaw_link" />
935
+ <child link="right_hand_roll_link" />
936
+ <axis xyz="1 0 0" />
937
+ <limit lower="-0.96" upper="0.87" effort="3.95" velocity="27.96" />
938
+ </joint>
939
+ <link name="right_hand_pitch_link">
940
+ <inertial>
941
+ <origin xyz="0 -0.00129 -0.0117" rpy="0 0 0" />
942
+ <mass value="0.0295" />
943
+ <inertia ixx="5.38E-6" ixy="0" ixz="0" iyy="1E-5" iyz="4.6E-7" izz="8.92E-6" />
944
+ </inertial>
945
+ <visual>
946
+ <origin xyz="0 0 0" rpy="0 0 0" />
947
+ <geometry>
948
+ <mesh filename="../meshes/gr1t1/right_hand_pitch_link.STL" />
949
+ </geometry>
950
+ <material name="">
951
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
952
+ </material>
953
+ </visual>
954
+ <!-- <collision>
955
+ <origin
956
+ xyz="0 0 0"
957
+ rpy="0 0 0" />
958
+ <geometry>
959
+ <mesh
960
+ filename="../meshes/gr1t1/right_hand_pitch_link.STL" />
961
+ </geometry>
962
+ </collision> -->
963
+ </link>
964
+ <joint name="right_wrist_pitch_joint" type="revolute">
965
+ <origin xyz="0 0 0" rpy="0 0 0" />
966
+ <parent link="right_hand_roll_link" />
967
+ <child link="right_hand_pitch_link" />
968
+ <axis xyz="0 1 0" />
969
+ <limit lower="-0.61" upper="0.61" effort="3.95" velocity="27.96" />
970
+ </joint>
971
+ <link name="right_end_effector_link">
972
+ </link>
973
+ <joint name="right_end_effector_joint" type="fixed">
974
+ <origin xyz="0 0 -0.023" rpy="0 0 0" />
975
+ <parent link="right_hand_pitch_link" />
976
+ <child link="right_end_effector_link" />
977
+ </joint>
978
+ <link name="head_yaw_link">
979
+ <inertial>
980
+ <origin xyz="-0.0001367 -0.0001340 0.05313" rpy="0 0 0" />
981
+ <mass value="0.45" />
982
+ <inertia ixx="0.0007357" ixy="-8.7E-7" ixz="1.075E-5" iyy="0.0007692" iyz="1.54E-6" izz="0.0001691" />
983
+ </inertial>
984
+ <visual>
985
+ <origin xyz="0 0 0" rpy="0 0 0" />
986
+ <geometry>
987
+ <mesh filename="../meshes/gr1t1/head_yaw_link.STL" />
988
+ </geometry>
989
+ <material name="">
990
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
991
+ </material>
992
+ </visual>
993
+ <!-- <collision>
994
+ <origin
995
+ xyz="0 0 0"
996
+ rpy="0 0 0" />
997
+ <geometry>
998
+ <mesh
999
+ filename="../meshes/gr1t1/head_yaw_link.STL" />
1000
+ </geometry>
1001
+ </collision> -->
1002
+ </link>
1003
+ <joint name="head_yaw_joint" type="revolute">
1004
+ <origin xyz="0 0 0.17339" rpy="0 0 0" />
1005
+ <parent link="torso_link" />
1006
+ <child link="head_yaw_link" />
1007
+ <axis xyz="0 0 1" />
1008
+ <limit lower="-2.71" upper="2.71" effort="3.95" velocity="27.96" />
1009
+ </joint>
1010
+ <link name="head_roll_link">
1011
+ <inertial>
1012
+ <origin xyz="-3E-5 0.01418 -0.00267" rpy="0 0 0" />
1013
+ <mass value="0.1267" />
1014
+ <inertia ixx="1.95e-5" ixy="-1.57e-6" ixz="-1.33e-6" iyy="1.746e-5" iyz="-1.44e-6" izz="1.961e-5" />
1015
+ </inertial>
1016
+ <visual>
1017
+ <origin xyz="0 0 0" rpy="0 0 0" />
1018
+ <geometry>
1019
+ <mesh filename="../meshes/gr1t1/head_roll_link.STL" />
1020
+ </geometry>
1021
+ <material name="">
1022
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1023
+ </material>
1024
+ </visual>
1025
+ <!-- <collision>
1026
+ <origin
1027
+ xyz="0 0 0"
1028
+ rpy="0 0 0" />
1029
+ <geometry>
1030
+ <mesh
1031
+ filename="../meshes/gr1t1/head_roll_link.STL" />
1032
+ </geometry>
1033
+ </collision> -->
1034
+ </link>
1035
+ <joint name="head_roll_joint" type="revolute">
1036
+ <origin xyz="0 -0.00105 0.14195" rpy="0 0 0" />
1037
+ <parent link="head_yaw_link" />
1038
+ <child link="head_roll_link" />
1039
+ <axis xyz="1 0 0" />
1040
+ <limit lower="-0.35" upper="0.35" effort="3.95" velocity="27.96" />
1041
+ </joint>
1042
+ <link name="head_pitch_link">
1043
+ <inertial>
1044
+ <origin xyz="0.02654 0.002225 -0.01063" rpy="0 0 0" />
1045
+ <mass value="0.45" />
1046
+ <inertia ixx="0.001107" ixy="1.689E-5" ixz="0.0002775" iyy="0.001414" iyz="-8.33E-6" izz="0.001518" />
1047
+ </inertial>
1048
+ <visual>
1049
+ <origin xyz="0 0 0" rpy="0 0 0" />
1050
+ <geometry>
1051
+ <mesh filename="../meshes/gr1t1/head_pitch_link.STL" />
1052
+ </geometry>
1053
+ <material name="">
1054
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1055
+ </material>
1056
+ </visual>
1057
+ <collision name="head_pitch_link.STL">
1058
+ <origin xyz="0.018281080808229797 0 -0.01336201800288447" rpy="0 0 0" />
1059
+ <geometry>
1060
+ <sphere radius="0.1086868692306477" />
1061
+ </geometry>
1062
+ </collision>
1063
+ </link>
1064
+ <joint name="head_pitch_joint" type="revolute">
1065
+ <origin xyz="0 0 0" rpy="0 0 0" />
1066
+ <parent link="head_roll_link" />
1067
+ <child link="head_pitch_link" />
1068
+ <axis xyz="0 1 0" />
1069
+ <limit lower="-0.87" upper="0.87" effort="3.95" velocity="27.96" />
1070
+ </joint>
1071
+ <link name="IMU_link">
1072
+ <inertial>
1073
+ <origin xyz="-0.0003275 0 -0.005737" rpy="0 0 0" />
1074
+ <mass value="0.05" />
1075
+ <inertia ixx="1.122E-5" ixy="0" ixz="-1.8E-7" iyy="1.199E-5" iyz="0" izz="1.442E-5" />
1076
+ </inertial>
1077
+ <visual>
1078
+ <origin xyz="0 0 0" rpy="0 0 0" />
1079
+ <geometry>
1080
+ <mesh filename="../meshes/gr1t1/IMU_link.STL" />
1081
+ </geometry>
1082
+ <material name="">
1083
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
1084
+ </material>
1085
+ </visual>
1086
+ <!-- <collision>
1087
+ <origin
1088
+ xyz="0 0 0"
1089
+ rpy="0 0 0" />
1090
+ <geometry>
1091
+ <mesh
1092
+ filename="../meshes/gr1t1/IMU_link.STL" />
1093
+ </geometry>
1094
+ </collision> -->
1095
+ </link>
1096
+ <joint name="IMU_joint" type="fixed">
1097
+ <origin xyz="-0.064772 0 -0.0596" rpy="0 0 0" />
1098
+ <parent link="base_link" />
1099
+ <child link="IMU_link" />
1100
+ <axis xyz="0 0 0" />
1101
+ </joint>
1102
+ </robot>
GR1/gr1t1/basic_urdf/gr1t1_dummy_hand.urdf ADDED
@@ -0,0 +1,963 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <robot name="gr1t2">
3
+ <link name="base_link">
4
+ <inertial>
5
+ <origin xyz="-0.06584 -9.765E-5 -0.01434" rpy="0 0 0" />
6
+ <mass value="3.84" />
7
+ <inertia ixx="0.03190" ixy="-3.35E-6" ixz="-0.001722" iyy="0.01048" iyz="-1.394E-5" izz="0.03496" />
8
+ </inertial>
9
+ <visual>
10
+ <origin xyz="0 0 0" rpy="0 0 0" />
11
+ <geometry>
12
+ <mesh filename="../meshes/gr1t1/base_link.STL" />
13
+ </geometry>
14
+ <material name="">
15
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
16
+ </material>
17
+ </visual>
18
+ <collision name="base_link.STL">
19
+ <origin xyz="-0.0425828586396115 0.0003700415157537537 0.009210089875386126" rpy="-1.5715560967510487 0.006752722386712318 -0.006757854813246755" />
20
+ <geometry>
21
+ <cylinder radius="0.12239433188500067" length="0.1371007021179978" />
22
+ </geometry>
23
+ </collision>
24
+ </link>
25
+ <link name="left_thigh_roll_link">
26
+ <inertial>
27
+ <origin xyz="-0.0327 9.169E-5 0.002323" rpy="0 0 0" />
28
+ <mass value="1.45" />
29
+ <inertia ixx="0.001545" ixy="8.2E-7" ixz="-2.999E-5" iyy="0.002427" iyz="-7.46E-6" izz="0.002505" />
30
+ </inertial>
31
+ <visual>
32
+ <origin xyz="0 0 0" rpy="0 0 0" />
33
+ <geometry>
34
+ <mesh filename="../meshes/gr1t1/left_thigh_roll_link.STL" />
35
+ </geometry>
36
+ <material name="">
37
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
38
+ </material>
39
+ </visual>
40
+ </link>
41
+ <joint name="left_hip_roll_joint" type="revolute">
42
+ <origin xyz="-0.0025 0.105 -0.0276" rpy="0 0 0" />
43
+ <parent link="base_link" />
44
+ <child link="left_thigh_roll_link" />
45
+ <axis xyz="1 0 0" />
46
+ <limit lower="-0.09" upper="0.79" effort="48" velocity="12.15" />
47
+ </joint>
48
+ <link name="left_thigh_yaw_link">
49
+ <inertial>
50
+ <origin xyz="-0.00019288 0.03547 -0.1073" rpy="0 0 0" />
51
+ <mass value="3.17" />
52
+ <inertia ixx="0.01555" ixy="-0.0001138" ixz="0.0001964" iyy="0.01777" iyz="0.003461" izz="0.006507" />
53
+ </inertial>
54
+ <visual>
55
+ <origin xyz="0 0 0" rpy="0 0 0" />
56
+ <geometry>
57
+ <mesh filename="../meshes/gr1t1/left_thigh_yaw_link.STL" />
58
+ </geometry>
59
+ <material name="">
60
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
61
+ </material>
62
+ </visual>
63
+ </link>
64
+ <joint name="left_hip_yaw_joint" type="revolute">
65
+ <origin xyz="0 0 0" rpy="0 0 0" />
66
+ <parent link="left_thigh_roll_link" />
67
+ <child link="left_thigh_yaw_link" />
68
+ <axis xyz="0 0 1" />
69
+ <limit lower="-0.7" upper="0.7" effort="66" velocity="16.76" />
70
+ </joint>
71
+ <link name="left_thigh_pitch_link">
72
+ <inertial>
73
+ <origin xyz="0.001419 -0.02869 -0.05999" rpy="0 0 0" />
74
+ <mass value="7.99" />
75
+ <inertia ixx="0.07222" ixy="-7.201e-5" ixz="0.001533" iyy="0.07244" iyz="-0.003014" izz="0.02139" />
76
+ </inertial>
77
+ <visual>
78
+ <origin xyz="0 0 0" rpy="0 0 0" />
79
+ <geometry>
80
+ <mesh filename="../meshes/gr1t1/left_thigh_pitch_link.STL" />
81
+ </geometry>
82
+ <material name="">
83
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
84
+ </material>
85
+ </visual>
86
+ <collision name="left_thigh_pitch_link.STL">
87
+ <origin xyz="0.0007000513673618543 -0.03015965784976181 -0.1670560397414535" rpy="0 0 0 " />
88
+ <geometry>
89
+ <cylinder radius="0.08587689590118133" length="0.24982894507630515" />
90
+ </geometry>
91
+ </collision>
92
+ </link>
93
+ <joint name="left_hip_pitch_joint" type="revolute">
94
+ <origin xyz="0 0.0223 -0.1405" rpy="0 0 0" />
95
+ <parent link="left_thigh_yaw_link" />
96
+ <child link="left_thigh_pitch_link" />
97
+ <axis xyz="0 1 0" />
98
+ <limit lower="-1.75" upper="0.7" effort="225" velocity="37.38" />
99
+ </joint>
100
+ <link name="left_shank_pitch_link">
101
+ <inertial>
102
+ <origin xyz="0.001724 -3.024E-5 -0.1128" rpy="0 0 0" />
103
+ <mass value="1.93" />
104
+ <inertia ixx="0.009915" ixy="-2.24E-6" ixz="-1.716E-5" iyy="0.009913" iyz="-0.0001199" izz="0.0009499" />
105
+ </inertial>
106
+ <visual>
107
+ <origin xyz="0 0 0" rpy="0 0 0" />
108
+ <geometry>
109
+ <mesh filename="../meshes/gr1t1/left_shank_pitch_link.STL" />
110
+ </geometry>
111
+ <material name="">
112
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
113
+ </material>
114
+ </visual>
115
+ <collision name="left_shank_pitch_link.STL">
116
+ <origin xyz="-1.659010853856773e-05 -0.000842546786771745 -0.17469107292397335" rpy="-3.1410836913690487 0.0024586308191354433 -2.733338485212507" />
117
+ <geometry>
118
+ <cylinder radius="0.05332138187428352" length="0.18076995129198576" />
119
+ </geometry>
120
+ </collision>
121
+ </link>
122
+ <joint name="left_knee_pitch_joint" type="revolute">
123
+ <origin xyz="0 -0.0213 -0.36" rpy="0 0 0" />
124
+ <parent link="left_thigh_pitch_link" />
125
+ <child link="left_shank_pitch_link" />
126
+ <axis xyz="0 1 0" />
127
+ <limit lower="-0.09" upper="1.92" effort="225" velocity="37.38" />
128
+ </joint>
129
+ <link name="left_foot_pitch_link">
130
+ <inertial>
131
+ <origin xyz="0.0284 0.00121 -0.0293" rpy="0 0 0" />
132
+ <mass value="0.538" />
133
+ <inertia ixx="0.000394" ixy="-9.64E-6" ixz="0.000173" iyy="0.00232" iyz="4.36E-6" izz="0.002474" />
134
+ </inertial>
135
+ <visual>
136
+ <origin xyz="0 0 0" rpy="0 0 0" />
137
+ <geometry>
138
+ <mesh filename="../meshes/gr1t1/left_foot_pitch_link.STL" />
139
+ </geometry>
140
+ <material name="">
141
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
142
+ </material>
143
+ </visual>
144
+ </link>
145
+ <joint name="left_ankle_pitch_joint" type="revolute">
146
+ <origin xyz="0 0 -0.34" rpy="0 0 0" />
147
+ <parent link="left_shank_pitch_link" />
148
+ <child link="left_foot_pitch_link" />
149
+ <axis xyz="0 1 0" />
150
+ <limit lower="-1.05" upper="0.52" effort="15" velocity="20.32" />
151
+ </joint>
152
+ <link name="left_foot_roll_link">
153
+ <inertial>
154
+ <origin xyz="0.0284 0.00121 -0.0293" rpy="0 0 0" />
155
+ <mass value="0.538" />
156
+ <inertia ixx="0.000394" ixy="-9.64E-6" ixz="0.000173" iyy="0.00232" iyz="4.36E-6" izz="0.002474" />
157
+ </inertial>
158
+ <visual>
159
+ <origin xyz="0 0 0" rpy="0 0 0" />
160
+ <geometry>
161
+ <mesh filename="../meshes/gr1t1/left_foot_roll_link.STL" />
162
+ </geometry>
163
+ <material name="">
164
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
165
+ </material>
166
+ </visual>
167
+ <collision name="l_foot_1">
168
+ <origin rpy="0 1.5708 0" xyz="0.05 0.02 -0.035" />
169
+ <geometry>
170
+ <cylinder length="0.24" radius="0.02" />
171
+ </geometry>
172
+ </collision>
173
+ <collision name="l_foot_2">
174
+ <origin rpy="0 1.5708 0" xyz="0.05 -0.02 -0.035" />
175
+ <geometry>
176
+ <cylinder length="0.24" radius="0.02" />
177
+ </geometry>
178
+ </collision>
179
+ </link>
180
+ <joint name="left_ankle_roll_joint" type="revolute">
181
+ <origin xyz="0 0 0" rpy="0 0 0" />
182
+ <parent link="left_foot_pitch_link" />
183
+ <child link="left_foot_roll_link" />
184
+ <axis xyz="1 0 0" />
185
+ <limit lower="-0.44" upper="0.44" effort="30" velocity="20.32" />
186
+ </joint>
187
+ <link name="right_thigh_roll_link">
188
+ <inertial>
189
+ <origin xyz="-0.0325 -7.432E-5 0.002322" rpy="0 0 0" />
190
+ <mass value="1.45" />
191
+ <inertia ixx="0.001545" ixy="8.68E-6" ixz="-3.071E-5" iyy="0.002445" iyz="7.47E-6" izz="0.002523" />
192
+ </inertial>
193
+ <visual>
194
+ <origin xyz="0 0 0" rpy="0 0 0" />
195
+ <geometry>
196
+ <mesh filename="../meshes/gr1t1/right_thigh_roll_link.STL" />
197
+ </geometry>
198
+ <material name="">
199
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
200
+ </material>
201
+ </visual>
202
+ </link>
203
+ <joint name="right_hip_roll_joint" type="revolute">
204
+ <origin xyz="-0.0025 -0.105 -0.0276" rpy="0 0 0" />
205
+ <parent link="base_link" />
206
+ <child link="right_thigh_roll_link" />
207
+ <axis xyz="1 0 0" />
208
+ <limit lower="-0.79" upper="0.09" effort="48" velocity="12.15" />
209
+ </joint>
210
+ <link name="right_thigh_yaw_link">
211
+ <inertial>
212
+ <origin xyz="-0.0001289 -0.03547 -0.1132" rpy="0 0 0" />
213
+ <mass value="3.17" />
214
+ <inertia ixx="0.01555" ixy="8.397E-5" ixz="5.579E-5" iyy="0.01777" iyz="-0.003462" izz="0.006503" />
215
+ </inertial>
216
+ <visual>
217
+ <origin xyz="0 0 0" rpy="0 0 0" />
218
+ <geometry>
219
+ <mesh filename="../meshes/gr1t1/right_thigh_yaw_link.STL" />
220
+ </geometry>
221
+ <material name="">
222
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
223
+ </material>
224
+ </visual>
225
+ </link>
226
+ <joint name="right_hip_yaw_joint" type="revolute">
227
+ <origin xyz="0 0 0" rpy="0 0 0" />
228
+ <parent link="right_thigh_roll_link" />
229
+ <child link="right_thigh_yaw_link" />
230
+ <axis xyz="0 0 1" />
231
+ <limit lower="-0.7" upper="0.7" effort="66" velocity="16.76" />
232
+ </joint>
233
+ <link name="right_thigh_pitch_link">
234
+ <inertial>
235
+ <origin xyz="0.00151 0.02868 -0.0598" rpy="0 0 0" />
236
+ <mass value="7.99" />
237
+ <inertia ixx="0.07228" ixy="5.837E-5" ixz="0.001505" iyy="0.07250" iyz="0.002950" izz="0.0214" />
238
+ </inertial>
239
+ <visual>
240
+ <origin xyz="0 0 0" rpy="0 0 0" />
241
+ <geometry>
242
+ <mesh filename="../meshes/gr1t1/right_thigh_pitch_link.STL" />
243
+ </geometry>
244
+ <material name="">
245
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
246
+ </material>
247
+ </visual>
248
+ <collision name="right_thigh_pitch_link.STL">
249
+ <origin xyz="-0.0021232671369708286 0.0301596122658223 -0.16705638592" rpy="0.005397062281218166 0.014125499755146664 3.8118827309907216e-05" />
250
+ <geometry>
251
+ <cylinder radius="0.0858779947877418" length="0.24982123520352716" />
252
+ </geometry>
253
+ </collision>
254
+ </link>
255
+ <joint name="right_hip_pitch_joint" type="revolute">
256
+ <origin xyz="0 -0.0223 -0.1405" rpy="0 0 0" />
257
+ <parent link="right_thigh_yaw_link" />
258
+ <child link="right_thigh_pitch_link" />
259
+ <axis xyz="0 1 0" />
260
+ <limit lower="-1.75" upper="0.7" effort="225" velocity="37.38" />
261
+ </joint>
262
+ <link name="right_shank_pitch_link">
263
+ <inertial>
264
+ <origin xyz="0.00172 3.024E-5 -0.1128" rpy="0 0 0" />
265
+ <mass value="1.93" />
266
+ <inertia ixx="0.009905" ixy="2.58E-6" ixz="-5.473E-5" iyy="0.009913" iyz="0.0001198" izz="0.0009603" />
267
+ </inertial>
268
+ <visual>
269
+ <origin xyz="0 0 0" rpy="0 0 0" />
270
+ <geometry>
271
+ <mesh filename="../meshes/gr1t1/right_shank_pitch_link.STL" />
272
+ </geometry>
273
+ <material name="">
274
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
275
+ </material>
276
+ </visual>
277
+ <collision name="right_shank_pitch_link.STL">
278
+ <origin xyz="-1.6590107921902e-5 -0.000842557381796573 -0.17469872467626" rpy="0 0 0" />
279
+ <geometry>
280
+ <cylinder radius="0.053321055277056" length="0.180768239886" />
281
+ </geometry>
282
+ </collision>
283
+ </link>
284
+ <joint name="right_knee_pitch_joint" type="revolute">
285
+ <origin xyz="0 0.0213 -0.36" rpy="0 0 0" />
286
+ <parent link="right_thigh_pitch_link" />
287
+ <child link="right_shank_pitch_link" />
288
+ <axis xyz="0 1 0" />
289
+ <limit lower="-0.09" upper="1.92" effort="225" velocity="37.38" />
290
+ </joint>
291
+ <link name="right_foot_pitch_link">
292
+ <inertial>
293
+ <origin xyz="0.0284 -0.00121 -0.0293" rpy="0 0 0" />
294
+ <mass value="0.538" />
295
+ <inertia ixx="0.000394" ixy="9.6E-6" ixz="0.000173" iyy="0.00232" iyz="-4.36E-6" izz="0.00247" />
296
+ </inertial>
297
+ <visual>
298
+ <origin xyz="0 0 0" rpy="0 0 0" />
299
+ <geometry>
300
+ <mesh filename="../meshes/gr1t1/right_foot_pitch_link.STL" />
301
+ </geometry>
302
+ <material name="">
303
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
304
+ </material>
305
+ </visual>
306
+ </link>
307
+ <joint name="right_ankle_pitch_joint" type="revolute">
308
+ <origin xyz="0 0 -0.34" rpy="0 0 0" />
309
+ <parent link="right_shank_pitch_link" />
310
+ <child link="right_foot_pitch_link" />
311
+ <axis xyz="0 1 0" />
312
+ <limit lower="-1.05" upper="0.52" effort="15" velocity="20.32" />
313
+ </joint>
314
+ <link name="right_foot_roll_link">
315
+ <inertial>
316
+ <origin xyz="0.0284 -0.00121 -0.0293" rpy="0 0 0" />
317
+ <mass value="0.538" />
318
+ <inertia ixx="0.000394" ixy="9.6E-6" ixz="0.000173" iyy="0.00232" iyz="-4.36E-6" izz="0.00247" />
319
+ </inertial>
320
+ <visual>
321
+ <origin xyz="0 0 0" rpy="0 0 0" />
322
+ <geometry>
323
+ <mesh filename="../meshes/gr1t1/right_foot_roll_link.STL" />
324
+ </geometry>
325
+ <material name="">
326
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
327
+ </material>
328
+ </visual>
329
+ <collision name="r_foot_1">
330
+ <origin rpy="0 1.5708 0" xyz="0.05 0.02 -0.035" />
331
+ <geometry>
332
+ <cylinder length="0.24" radius="0.02" />
333
+ </geometry>
334
+ </collision>
335
+ <collision name="r_foot_2">
336
+ <origin rpy="0 1.5708 0" xyz="0.05 -0.02 -0.035" />
337
+ <geometry>
338
+ <cylinder length="0.24" radius="0.02" />
339
+ </geometry>
340
+ </collision>
341
+ </link>
342
+ <joint name="right_ankle_roll_joint" type="revolute">
343
+ <origin xyz="0 0 0" rpy="0 0 0" />
344
+ <parent link="right_foot_pitch_link" />
345
+ <child link="right_foot_roll_link" />
346
+ <axis xyz="1 0 0" />
347
+ <limit lower="-0.44" upper="0.44" effort="30" velocity="20.32" />
348
+ </joint>
349
+ <link name="waist_yaw_link">
350
+ <inertial>
351
+ <origin xyz="-0.002641 -0.009332 0.05066" rpy="0 0 0" />
352
+ <mass value="1.49" />
353
+ <inertia ixx="0.00302" ixy="3.832E-5" ixz="1.016E-5" iyy="0.002711" iyz="0.0005105" izz="0.001679" />
354
+ </inertial>
355
+ <visual>
356
+ <origin xyz="0 0 0" rpy="0 0 0" />
357
+ <geometry>
358
+ <mesh filename="../meshes/gr1t1/waist_yaw_link.STL" />
359
+ </geometry>
360
+ <material name="">
361
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
362
+ </material>
363
+ </visual>
364
+ </link>
365
+ <joint name="waist_yaw_joint" type="revolute">
366
+ <origin xyz="0 0 0" rpy="0 0 0" />
367
+ <parent link="base_link" />
368
+ <child link="waist_yaw_link" />
369
+ <axis xyz="0 0 1" />
370
+ <limit lower="-1.05" upper="1.05" effort="66" velocity="16.76" />
371
+ </joint>
372
+ <link name="waist_pitch_link">
373
+ <inertial>
374
+ <origin xyz="0.00451 -0.00439 0.0406" rpy="0 0 0" />
375
+ <mass value="1.62" />
376
+ <inertia ixx="0.00456" ixy="-2.99E-5" ixz="-0.0002541" iyy="0.004563" iyz="-0.0002748" izz="0.001855" />
377
+ </inertial>
378
+ <visual>
379
+ <origin xyz="0 0 0" rpy="0 0 0" />
380
+ <geometry>
381
+ <mesh filename="../meshes/gr1t1/waist_pitch_link.STL" />
382
+ </geometry>
383
+ <material name="">
384
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
385
+ </material>
386
+ </visual>
387
+ </link>
388
+ <joint name="waist_pitch_joint" type="revolute">
389
+ <origin xyz="0 0 0.0873" rpy="0 0 0" />
390
+ <parent link="waist_yaw_link" />
391
+ <child link="waist_pitch_link" />
392
+ <axis xyz="0 1 0" />
393
+ <limit lower="-0.52" upper="1.22" effort="66" velocity="16.76" />
394
+ </joint>
395
+ <link name="waist_roll_link">
396
+ <inertial>
397
+ <origin xyz="0.01038 -1.48E-6 0.01312" rpy="0 0 0" />
398
+ <mass value="0.91" />
399
+ <inertia ixx="0.001" ixy="-1E-8" ixz="0.0001508" iyy="0.001226" iyz="8E-8" izz="0.001087" />
400
+ </inertial>
401
+ <visual>
402
+ <origin xyz="0 0 0" rpy="0 0 0" />
403
+ <geometry>
404
+ <mesh filename="../meshes/gr1t1/waist_roll_link.STL" />
405
+ </geometry>
406
+ <material name="">
407
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
408
+ </material>
409
+ </visual>
410
+ </link>
411
+ <joint name="waist_roll_joint" type="revolute">
412
+ <origin xyz="0 0 0.081" rpy="0 0 0" />
413
+ <parent link="waist_pitch_link" />
414
+ <child link="waist_roll_link" />
415
+ <axis xyz="1 0 0" />
416
+ <limit lower="-0.7" upper="0.7" effort="66" velocity="16.76" />
417
+ </joint>
418
+ <link name="torso_link">
419
+ <inertial>
420
+ <origin xyz="-0.00667 0.0001533 0.01837" rpy="0 0 0" />
421
+ <mass value="6.40" />
422
+ <inertia ixx="0.04162" ixy="2.011E-5" ixz="-0.001691" iyy="0.03127" iyz="1.097E-5" izz="0.02553" />
423
+ </inertial>
424
+ <visual>
425
+ <origin xyz="0 0 0" rpy="0 0 0" />
426
+ <geometry>
427
+ <mesh filename="../meshes/gr1t1/torso_link.STL" />
428
+ </geometry>
429
+ <material name="">
430
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
431
+ </material>
432
+ </visual>
433
+ <collision name="torso_link.STL">
434
+ <origin xyz="-0.0158159258618006 0.005195369607133852 -0.01252051000214107" rpy="0 0 0" />
435
+ <geometry>
436
+ <cylinder radius="0.12742740516179015" length="0.1603859984881334" />
437
+ </geometry>
438
+ </collision>
439
+ </link>
440
+ <joint name="torso_joint" type="fixed">
441
+ <origin xyz="-0.00414 0 0.16071" rpy="0 0 0" />
442
+ <parent link="waist_roll_link" />
443
+ <child link="torso_link" />
444
+ <axis xyz="0 0 0" />
445
+ </joint>
446
+ <link name="left_upper_arm_pitch_link">
447
+ <inertial>
448
+ <origin xyz="0.00323 0.05324 0.000192" rpy="0 0 0" />
449
+ <mass value="0.81" />
450
+ <inertia ixx="0.002024" ixy="-9.67E-5" ixz="-4.2E-7" iyy="0.0005" iyz="1.71E-6" izz="0.001957" />
451
+ </inertial>
452
+ <visual>
453
+ <origin xyz="0 0 0" rpy="0 0 0" />
454
+ <geometry>
455
+ <mesh filename="../meshes/gr1t1/left_upper_arm_pitch_link.STL" />
456
+ </geometry>
457
+ <material name="">
458
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
459
+ </material>
460
+ </visual>
461
+ </link>
462
+ <joint name="left_shoulder_pitch_joint" type="revolute">
463
+ <origin xyz="0 0.10111 0.047149" rpy="0.43633 0 0" />
464
+ <parent link="torso_link" />
465
+ <child link="left_upper_arm_pitch_link" />
466
+ <axis xyz="0 1 0" />
467
+ <limit lower="-2.79" upper="1.92" effort="38" velocity="9.11" />
468
+ </joint>
469
+ <link name="left_upper_arm_roll_link">
470
+ <inertial>
471
+ <origin xyz="0.003427 0.01466 -0.02316" rpy="0 0 0" />
472
+ <mass value="0.5" />
473
+ <inertia ixx="0.0008749" ixy="-1.593E-5" ixz="2.96E-6" iyy="0.0006958" iyz="0.0002863" izz="0.0004119" />
474
+ </inertial>
475
+ <visual>
476
+ <origin xyz="0 0 0" rpy="0 0 0" />
477
+ <geometry>
478
+ <mesh filename="../meshes/gr1t1/left_upper_arm_roll_link.STL" />
479
+ </geometry>
480
+ <material name="">
481
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
482
+ </material>
483
+ </visual>
484
+ </link>
485
+ <joint name="left_shoulder_roll_joint" type="revolute">
486
+ <origin xyz="0 0.09515 0" rpy="-0.43633 0 0" />
487
+ <parent link="left_upper_arm_pitch_link" />
488
+ <child link="left_upper_arm_roll_link" />
489
+ <axis xyz="1 0 0" />
490
+ <limit lower="-0.57" upper="3.27" effort="38" velocity="9.11" />
491
+ </joint>
492
+ <link name="left_upper_arm_yaw_link">
493
+ <inertial>
494
+ <origin xyz="5.47E-5 0.002013 -0.0852" rpy="0 0 0" />
495
+ <mass value="0.55" />
496
+ <inertia ixx="0.003544" ixy="-1.8E-7" ixz="-1.75E-6" iyy="0.003537" iyz="9.928E-5" izz="0.0002512" />
497
+ </inertial>
498
+ <visual>
499
+ <origin xyz="0 0 0" rpy="0 0 0" />
500
+ <geometry>
501
+ <mesh filename="../meshes/gr1t1/left_upper_arm_yaw_link.STL" />
502
+ </geometry>
503
+ <material name="">
504
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
505
+ </material>
506
+ </visual>
507
+ <collision name="left_upper_arm_yaw_link.STL">
508
+ <origin xyz="3.948544275722503e-05 -0.0008942898235348745 -0.079340036492981" rpy="-3.1255954464984725 0.0015124792767218231 -0.1885285227575202" />
509
+ <geometry>
510
+ <cylinder radius="0.03623321337242011" length="0.1698839909625244" />
511
+ </geometry>
512
+ </collision>
513
+ </link>
514
+ <joint name="left_shoulder_yaw_joint" type="revolute">
515
+ <origin xyz="0 0.04 -0.07095" rpy="0 0 0" />
516
+ <parent link="left_upper_arm_roll_link" />
517
+ <child link="left_upper_arm_yaw_link" />
518
+ <axis xyz="0 0 1" />
519
+ <limit lower="-2.97" upper="2.97" effort="30" velocity="7.33" />
520
+ </joint>
521
+ <link name="left_lower_arm_pitch_link">
522
+ <inertial>
523
+ <origin xyz="3.31E-6 0.007846 -0.02549" rpy="0 0 0" />
524
+ <mass value="0.32" />
525
+ <inertia ixx="0.0002916" ixy="1E-8" ixz="-6E-8" iyy="0.0002848" iyz="-4.858E-5" izz="0.0001090" />
526
+ </inertial>
527
+ <visual>
528
+ <origin xyz="0 0 0" rpy="0 0 0" />
529
+ <geometry>
530
+ <mesh filename="../meshes/gr1t1/left_lower_arm_pitch_link.STL" />
531
+ </geometry>
532
+ <material name="">
533
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
534
+ </material>
535
+ </visual>
536
+ </link>
537
+ <joint name="left_elbow_pitch_joint" type="revolute">
538
+ <origin xyz="0 0 -0.1751" rpy="0 0 0" />
539
+ <parent link="left_upper_arm_yaw_link" />
540
+ <child link="left_lower_arm_pitch_link" />
541
+ <axis xyz="0 1 0" />
542
+ <limit lower="-2.27" upper="2.27" effort="30" velocity="7.33" />
543
+ </joint>
544
+ <link name="left_hand_yaw_link">
545
+ <inertial>
546
+ <origin xyz="-2.923E-5 0.002124 -0.06117" rpy="0 0 0" />
547
+ <mass value="0.89" />
548
+ <inertia ixx="0.001867" ixy="3.1E-7" ixz="1.064E-5" iyy="0.001863" iyz="1.649E-5" izz="0.0003211" />
549
+ </inertial>
550
+ <visual>
551
+ <origin xyz="0 0 0" rpy="0 0 0" />
552
+ <geometry>
553
+ <mesh filename="../meshes/gr1t1/left_hand_yaw_link.STL" />
554
+ </geometry>
555
+ <material name="">
556
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
557
+ </material>
558
+ </visual>
559
+ <collision name="left_hand_yaw_link.STL">
560
+ <origin xyz="0.0010892501812804515 -0.0015411136604867 -0.07604285011805535" rpy="0 0 0" />
561
+ <geometry>
562
+ <cylinder radius="0.04157192402358859" length="0.1391873595177893" />
563
+ </geometry>
564
+ </collision>
565
+ </link>
566
+ <joint name="left_wrist_yaw_joint" type="revolute">
567
+ <origin xyz="0 5.033E-05 -0.05395" rpy="0 0 0" />
568
+ <parent link="left_lower_arm_pitch_link" />
569
+ <child link="left_hand_yaw_link" />
570
+ <axis xyz="0 0 1" />
571
+ <limit lower="-2.97" upper="2.97" effort="10.2" velocity="24.4" />
572
+ </joint>
573
+ <link name="left_hand_roll_link">
574
+ <inertial>
575
+ <origin xyz="0 0.001292 -0.01174" rpy="0 0 0" />
576
+ <mass value="0.02955" />
577
+ <inertia ixx="5.38E-6" ixy="0" ixz="0" iyy="1E-5" iyz="-4.6E-7" izz="8.92E-6" />
578
+ </inertial>
579
+ <visual>
580
+ <origin xyz="0 0 0" rpy="0 0 0" />
581
+ <geometry>
582
+ <mesh filename="../meshes/gr1t1/left_hand_roll_link.STL" />
583
+ </geometry>
584
+ <material name="">
585
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
586
+ </material>
587
+ </visual>
588
+ </link>
589
+ <joint name="left_wrist_roll_joint" type="revolute">
590
+ <origin xyz="0 0 -0.18765" rpy="0 0 0" />
591
+ <parent link="left_hand_yaw_link" />
592
+ <child link="left_hand_roll_link" />
593
+ <axis xyz="1 0 0" />
594
+ <limit lower="-0.87" upper="0.96" effort="3.95" velocity="27.96" />
595
+ </joint>
596
+ <link name="left_hand_pitch_link">
597
+ <inertial>
598
+ <origin xyz="0 0.001292 -0.01174" rpy="0 0 0" />
599
+ <mass value="0.02955" />
600
+ <inertia ixx="5.38E-6" ixy="0" ixz="0" iyy="1E-5" iyz="-4.6E-7" izz="8.92E-6" />
601
+ </inertial>
602
+ <visual>
603
+ <origin xyz="0 0 0" rpy="0 0 0" />
604
+ <geometry>
605
+ <mesh filename="../meshes/gr1t1/left_hand_pitch_link.STL" />
606
+ </geometry>
607
+ <material name="">
608
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
609
+ </material>
610
+ </visual>
611
+ </link>
612
+ <joint name="left_wrist_pitch_joint" type="revolute">
613
+ <origin xyz="0 0 0" rpy="0 0 0" />
614
+ <parent link="left_hand_roll_link" />
615
+ <child link="left_hand_pitch_link" />
616
+ <axis xyz="0 1 0" />
617
+ <limit lower="-0.61" upper="0.61" effort="3.95" velocity="27.96" />
618
+ </joint>
619
+ <link name="left_end_effector_link">
620
+ </link>
621
+ <joint name="left_end_effector_joint" type="fixed">
622
+ <origin xyz="0 0 -0.023" rpy="0 0 0" />
623
+ <parent link="left_hand_pitch_link" />
624
+ <child link="left_end_effector_link" />
625
+ </joint>
626
+ <link name="right_upper_arm_pitch_link">
627
+ <inertial>
628
+ <origin xyz="0.00324 -0.0533 0.000185" rpy="0 0 0" />
629
+ <mass value="0.81" />
630
+ <inertia ixx="0.00203" ixy="0.000104" ixz="2.96E-7" iyy="0.000499" iyz="-1.1E-6" izz="0.001960" />
631
+ </inertial>
632
+ <visual>
633
+ <origin xyz="0 0 0" rpy="0 0 0" />
634
+ <geometry>
635
+ <mesh filename="../meshes/gr1t1/right_upper_arm_pitch_link.STL" />
636
+ </geometry>
637
+ <material name="">
638
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
639
+ </material>
640
+ </visual>
641
+ </link>
642
+ <joint name="right_shoulder_pitch_joint" type="revolute">
643
+ <origin xyz="0 -0.10111 0.047149" rpy="-0.43633 0 0" />
644
+ <parent link="torso_link" />
645
+ <child link="right_upper_arm_pitch_link" />
646
+ <axis xyz="0 1 0" />
647
+ <limit lower="-2.79" upper="1.92" effort="38" velocity="9.11" />
648
+ </joint>
649
+ <link name="right_upper_arm_roll_link">
650
+ <inertial>
651
+ <origin xyz="0.00342 -0.0147 -0.0232" rpy="0 0 0" />
652
+ <mass value="0.5" />
653
+ <inertia ixx="0.000875" ixy="1.598E-5" ixz="2.96E-6" iyy="0.000696" iyz="-0.0002866" izz="0.0004121" />
654
+ </inertial>
655
+ <visual>
656
+ <origin xyz="0 0 0" rpy="0 0 0" />
657
+ <geometry>
658
+ <mesh filename="../meshes/gr1t1/right_upper_arm_roll_link.STL" />
659
+ </geometry>
660
+ <material name="">
661
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
662
+ </material>
663
+ </visual>
664
+ </link>
665
+ <joint name="right_shoulder_roll_joint" type="revolute">
666
+ <origin xyz="0 -0.09515 0" rpy="0.43633 0 0" />
667
+ <parent link="right_upper_arm_pitch_link" />
668
+ <child link="right_upper_arm_roll_link" />
669
+ <axis xyz="1 0 0" />
670
+ <limit lower="-3.27" upper="0.57" effort="38" velocity="9.11" />
671
+ </joint>
672
+ <link name="right_upper_arm_yaw_link">
673
+ <inertial>
674
+ <origin xyz="7.6E-5 -0.002032 -0.08519" rpy="0 0 0" />
675
+ <mass value="0.55" />
676
+ <inertia ixx="0.003543" ixy="-1.9E-7" ixz="-1.49E-6" iyy="0.003536" iyz="-9.89E-5" izz="0.0002512" />
677
+ </inertial>
678
+ <visual>
679
+ <origin xyz="0 0 0" rpy="0 0 0" />
680
+ <geometry>
681
+ <mesh filename="../meshes/gr1t1/right_upper_arm_yaw_link.STL" />
682
+ </geometry>
683
+ <material name="">
684
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
685
+ </material>
686
+ </visual>
687
+ <collision name="right_upper_arm_yaw_link.STL">
688
+ <origin xyz="3.948544275722503e-05 0.0008942898235348745 -0.079340036492981" rpy="0 0 0" />
689
+ <geometry>
690
+ <cylinder radius="0.03623321337242011" length="0.1698839909625244" />
691
+ </geometry>
692
+ </collision>
693
+ </link>
694
+ <joint name="right_shoulder_yaw_joint" type="revolute">
695
+ <origin xyz="0 -0.04 -0.07095" rpy="0 0 0" />
696
+ <parent link="right_upper_arm_roll_link" />
697
+ <child link="right_upper_arm_yaw_link" />
698
+ <axis xyz="0 0 1" />
699
+ <limit lower="-2.97" upper="2.97" effort="30" velocity="7.33" />
700
+ </joint>
701
+ <link name="right_lower_arm_pitch_link">
702
+ <inertial>
703
+ <origin xyz="-1.69E-6 -0.007855 -0.02549" rpy="0 0 0" />
704
+ <mass value="0.32" />
705
+ <inertia ixx="0.0002914" ixy="2E-8" ixz="1E-8" iyy="0.0002847" iyz="4.85E-5" izz="0.000109" />
706
+ </inertial>
707
+ <visual>
708
+ <origin xyz="0 0 0" rpy="0 0 0" />
709
+ <geometry>
710
+ <mesh filename="../meshes/gr1t1/right_lower_arm_pitch_link.STL" />
711
+ </geometry>
712
+ <material name="">
713
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
714
+ </material>
715
+ </visual>
716
+ </link>
717
+ <joint name="right_elbow_pitch_joint" type="revolute">
718
+ <origin xyz="0 0 -0.1751" rpy="0 0 0" />
719
+ <parent link="right_upper_arm_yaw_link" />
720
+ <child link="right_lower_arm_pitch_link" />
721
+ <axis xyz="0 1 0" />
722
+ <limit lower="-2.27" upper="2.27" effort="30" velocity="7.33" />
723
+ </joint>
724
+ <link name="right_hand_yaw_link">
725
+ <inertial>
726
+ <origin xyz="3.90E-5 -0.00212 -0.06117" rpy="0 0 0" />
727
+ <mass value="0.89" />
728
+ <inertia ixx="0.001866" ixy="3E-7" ixz="-1.091E-5" iyy="0.001862" iyz="-1.679E-5" izz="0.0003211" />
729
+ </inertial>
730
+ <visual>
731
+ <origin xyz="0 0 0" rpy="0 0 0" />
732
+ <geometry>
733
+ <mesh filename="../meshes/gr1t1/right_hand_yaw_link.STL" />
734
+ </geometry>
735
+ <material name="">
736
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
737
+ </material>
738
+ </visual>
739
+ <collision name="right_hand_yaw_link.STL">
740
+ <origin xyz="0.0010892501812804515 0.0006411136604867 -0.07604285011805535" rpy="0 0 0" />
741
+ <geometry>
742
+ <cylinder radius="0.04157192402358859" length="0.1391873595177893" />
743
+ </geometry>
744
+ </collision>
745
+ </link>
746
+ <joint name="right_wrist_yaw_joint" type="revolute">
747
+ <origin xyz="0 -5.033E-05 -0.05395" rpy="0 0 0" />
748
+ <parent link="right_lower_arm_pitch_link" />
749
+ <child link="right_hand_yaw_link" />
750
+ <axis xyz="0 0 1" />
751
+ <limit lower="-2.97" upper="2.97" effort="10.2" velocity="24.4" />
752
+ </joint>
753
+ <link name="right_hand_roll_link">
754
+ <inertial>
755
+ <origin xyz="0 -0.00129 -0.0117" rpy="0 0 0" />
756
+ <mass value="0.0295" />
757
+ <inertia ixx="5.38E-6" ixy="0" ixz="0" iyy="1E-5" iyz="4.6E-7" izz="8.92E-6" />
758
+ </inertial>
759
+ <visual>
760
+ <origin xyz="0 0 0" rpy="0 0 0" />
761
+ <geometry>
762
+ <mesh filename="../meshes/gr1t1/right_hand_roll_link.STL" />
763
+ </geometry>
764
+ <material name="">
765
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
766
+ </material>
767
+ </visual>
768
+ </link>
769
+ <joint name="right_wrist_roll_joint" type="revolute">
770
+ <origin xyz="0 0 -0.18765" rpy="0 0 0" />
771
+ <parent link="right_hand_yaw_link" />
772
+ <child link="right_hand_roll_link" />
773
+ <axis xyz="1 0 0" />
774
+ <limit lower="-0.96" upper="0.87" effort="3.95" velocity="27.96" />
775
+ </joint>
776
+ <link name="right_hand_pitch_link">
777
+ <inertial>
778
+ <origin xyz="0 -0.00129 -0.0117" rpy="0 0 0" />
779
+ <mass value="0.0295" />
780
+ <inertia ixx="5.38E-6" ixy="0" ixz="0" iyy="1E-5" iyz="4.6E-7" izz="8.92E-6" />
781
+ </inertial>
782
+ <visual>
783
+ <origin xyz="0 0 0" rpy="0 0 0" />
784
+ <geometry>
785
+ <mesh filename="../meshes/gr1t1/right_hand_pitch_link.STL" />
786
+ </geometry>
787
+ <material name="">
788
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
789
+ </material>
790
+ </visual>
791
+ </link>
792
+ <joint name="right_wrist_pitch_joint" type="revolute">
793
+ <origin xyz="0 0 0" rpy="0 0 0" />
794
+ <parent link="right_hand_roll_link" />
795
+ <child link="right_hand_pitch_link" />
796
+ <axis xyz="0 1 0" />
797
+ <limit lower="-0.61" upper="0.61" effort="3.95" velocity="27.96" />
798
+ </joint>
799
+ <link name="right_end_effector_link">
800
+ </link>
801
+ <joint name="right_end_effector_joint" type="fixed">
802
+ <origin xyz="0 0 -0.023" rpy="0 0 0" />
803
+ <parent link="right_hand_pitch_link" />
804
+ <child link="right_end_effector_link" />
805
+ </joint>
806
+ <link name="head_yaw_link">
807
+ <inertial>
808
+ <origin xyz="-0.0001367 -0.0001340 0.05313" rpy="0 0 0" />
809
+ <mass value="0.45" />
810
+ <inertia ixx="0.0007357" ixy="-8.7E-7" ixz="1.075E-5" iyy="0.0007692" iyz="1.54E-6" izz="0.0001691" />
811
+ </inertial>
812
+ <visual>
813
+ <origin xyz="0 0 0" rpy="0 0 0" />
814
+ <geometry>
815
+ <mesh filename="../meshes/gr1t1/head_yaw_link.STL" />
816
+ </geometry>
817
+ <material name="">
818
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
819
+ </material>
820
+ </visual>
821
+ </link>
822
+ <joint name="head_yaw_joint" type="revolute">
823
+ <origin xyz="0 0 0.17339" rpy="0 0 0" />
824
+ <parent link="torso_link" />
825
+ <child link="head_yaw_link" />
826
+ <axis xyz="0 0 1" />
827
+ <limit lower="-2.71" upper="2.71" effort="3.95" velocity="27.96" />
828
+ </joint>
829
+ <link name="head_roll_link">
830
+ <inertial>
831
+ <origin xyz="-3E-5 0.01418 -0.00267" rpy="0 0 0" />
832
+ <mass value="0.1267" />
833
+ <inertia ixx="1.95e-5" ixy="-1.57e-6" ixz="-1.33e-6" iyy="1.746e-5" iyz="-1.44e-6" izz="1.961e-5" />
834
+ </inertial>
835
+ <visual>
836
+ <origin xyz="0 0 0" rpy="0 0 0" />
837
+ <geometry>
838
+ <mesh filename="../meshes/gr1t1/head_roll_link.STL" />
839
+ </geometry>
840
+ <material name="">
841
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
842
+ </material>
843
+ </visual>
844
+ </link>
845
+ <joint name="head_roll_joint" type="revolute">
846
+ <origin xyz="0 -0.00105 0.14195" rpy="0 0 0" />
847
+ <parent link="head_yaw_link" />
848
+ <child link="head_roll_link" />
849
+ <axis xyz="1 0 0" />
850
+ <limit lower="-0.35" upper="0.35" effort="3.95" velocity="27.96" />
851
+ </joint>
852
+ <link name="head_pitch_link">
853
+ <inertial>
854
+ <origin xyz="0.02654 0.002225 -0.01063" rpy="0 0 0" />
855
+ <mass value="0.45" />
856
+ <inertia ixx="0.001107" ixy="1.689E-5" ixz="0.0002775" iyy="0.001414" iyz="-8.33E-6" izz="0.001518" />
857
+ </inertial>
858
+ <visual>
859
+ <origin xyz="0 0 0" rpy="0 0 0" />
860
+ <geometry>
861
+ <mesh filename="../meshes/gr1t1/head_pitch_link.STL" />
862
+ </geometry>
863
+ <material name="">
864
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
865
+ </material>
866
+ </visual>
867
+ <collision name="head_pitch_link.STL">
868
+ <origin xyz="0.018281080808229797 0 -0.01336201800288447" rpy="0 0 0" />
869
+ <geometry>
870
+ <sphere radius="0.1086868692306477" />
871
+ </geometry>
872
+ </collision>
873
+ </link>
874
+ <joint name="head_pitch_joint" type="revolute">
875
+ <origin xyz="0 0 0" rpy="0 0 0" />
876
+ <parent link="head_roll_link" />
877
+ <child link="head_pitch_link" />
878
+ <axis xyz="0 1 0" />
879
+ <limit lower="-0.87" upper="0.87" effort="3.95" velocity="27.96" />
880
+ </joint>
881
+ <link name="IMU_link">
882
+ <inertial>
883
+ <origin xyz="-0.0003275 0 -0.005737" rpy="0 0 0" />
884
+ <mass value="0.05" />
885
+ <inertia ixx="1.122E-5" ixy="0" ixz="-1.8E-7" iyy="1.199E-5" iyz="0" izz="1.442E-5" />
886
+ </inertial>
887
+ <visual>
888
+ <origin xyz="0 0 0" rpy="0 0 0" />
889
+ <geometry>
890
+ <mesh filename="../meshes/gr1t1/IMU_link.STL" />
891
+ </geometry>
892
+ <material name="">
893
+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
894
+ </material>
895
+ </visual>
896
+ </link>
897
+ <joint name="IMU_joint" type="fixed">
898
+ <origin xyz="-0.064772 0 -0.0596" rpy="0 0 0" />
899
+ <parent link="base_link" />
900
+ <child link="IMU_link" />
901
+ <axis xyz="0 0 0" />
902
+ </joint>
903
+ <link name="left_dummy_hand_link">
904
+ <inertial>
905
+ <origin xyz="0.01485 -0.006224 -0.05627" rpy="0 0 0" />
906
+ <mass value="0.4686" />
907
+ <inertia ixx="0.0006912" ixy="7.052E-5" ixz="-0.000229" iyy="0.001342" iyz="-9.13E-6" izz="0.0007638" />
908
+ </inertial>
909
+ <visual>
910
+ <origin xyz="0 0 0" rpy="0 0 0" />
911
+ <geometry>
912
+ <mesh filename="../meshes/dummy_hand/dummy_left_hand.STL" />
913
+ </geometry>
914
+ <material name="">
915
+ <color rgba="1 1 1 1" />
916
+ </material>
917
+ </visual>
918
+ <collision>
919
+ <origin xyz="0 0 -0.055" rpy="0 0 0" />
920
+ <geometry>
921
+ <box size="0.07 0.04 0.11" />
922
+ </geometry>
923
+ <material name="">
924
+ <color rgba="1 1 1 1" />
925
+ </material>
926
+ </collision>
927
+ </link>
928
+ <joint name="left_dummy_hand_joint" type="fixed">
929
+ <parent link="left_end_effector_link" />
930
+ <child link="left_dummy_hand_link" />
931
+ <origin rpy="0 0 0" xyz="0 0 0" />
932
+ </joint>
933
+ <link name="dummy_right_hand_link">
934
+ <inertial>
935
+ <origin xyz="0.01432 0.006317 -0.0565" rpy="0 0 0" />
936
+ <mass value="0.4686" />
937
+ <inertia ixx="0.0007033" ixy="-7.032E-5" ixz="-0.000234" iyy="0.001361" iyz="1.09E-5" izz="0.0007708" />
938
+ </inertial>
939
+ <visual>
940
+ <origin xyz="0 0 0" rpy="0 0 0" />
941
+ <geometry>
942
+ <mesh filename="../meshes/dummy_hand/dummy_right_hand.STL" />
943
+ </geometry>
944
+ <material name="">
945
+ <color rgba="1 1 1 1" />
946
+ </material>
947
+ </visual>
948
+ <collision>
949
+ <origin xyz="0 0 -0.055" rpy="0 0 0" />
950
+ <geometry>
951
+ <box size="0.07 0.04 0.11" />
952
+ </geometry>
953
+ <material name="">
954
+ <color rgba="1 1 1 1" />
955
+ </material>
956
+ </collision>
957
+ </link>
958
+ <joint name="dummy_right_hand_joint" type="fixed">
959
+ <parent link="right_end_effector_link" />
960
+ <child link="dummy_right_hand_link" />
961
+ <origin rpy="0 0 0" xyz="0 0 0" />
962
+ </joint>
963
+ </robot>
GR1/gr1t1/meshes/dummy_hand/dummy_left_hand.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0be0f53bcff57eff563c26081e8454041bcf1e8a74ac246b48697cf02ae98fb0
3
+ size 1000034
GR1/gr1t1/meshes/dummy_hand/dummy_right_hand.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:57d9021a2540fb0c1279d0286fe3824c4b395af6615c714112efa7a9860106b6
3
+ size 1000084
GR1/gr1t1/meshes/fourier_hand_6dof/L_hand_base_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f359bc30a65d5fafc689a4ffbf28be83cab836bef9db8b230c29a7fe638e77f
3
+ size 1000084
GR1/gr1t1/meshes/fourier_hand_6dof/L_index_intermediate_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:12ff3aa83289611c6246c863e17d7094a8337c74b8f719d2452413205d48d677
3
+ size 342884
GR1/gr1t1/meshes/fourier_hand_6dof/L_index_proximal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4eefa8be944c03546451e642cf38243d821916c0934bbeff8e8ede92354125b9
3
+ size 342284
GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_intermediate_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:62305ce31619c4256a18dcbf6ccc59e188e5dbce0dcba9cfb4fb6cbefbfbbe17
3
+ size 312684
GR1/gr1t1/meshes/fourier_hand_6dof/L_middle_proximal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9300c4b6bcd611d3b909dcea603bca93419817132ad07bc4b26475370908a8da
3
+ size 341884
GR1/gr1t1/meshes/fourier_hand_6dof/L_pinky_intermediate_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a937a0e1b6a37cbf34d20a8a42bcbc1cc3e18db1d9fe2ba686654d9c65bfee39
3
+ size 415384
GR1/gr1t1/meshes/fourier_hand_6dof/L_pinky_proximal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d73db193b6c0c7b9a2ce248eda9a214709fee31f9a3bed99768143690ba0c5f
3
+ size 341884
GR1/gr1t1/meshes/fourier_hand_6dof/L_ring_intermediate_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:23111e34432105993240b09f67817c54f8995771e6688ce8583c10b230ab7d09
3
+ size 342884
GR1/gr1t1/meshes/fourier_hand_6dof/L_ring_proximal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c49e27f44db558ebd13d757011abb0c9b07bb359f0790b011ab66918baa92bbb
3
+ size 341884
GR1/gr1t1/meshes/fourier_hand_6dof/L_thumb_distal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4dd4990188e9c4470fd1d00eb5e66c5fe445d44ea6f84bd4a72d27ce9c94a2d1
3
+ size 287384
GR1/gr1t1/meshes/fourier_hand_6dof/L_thumb_proximal_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:46c56584cdb26a2c3988c7b5021e7321738edd983d3f319dfa58d1af925c05e0
3
+ size 627584
GR1/gr1t1/meshes/fourier_hand_6dof/L_thumb_proximal_yaw_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96a421592aa59335fb47c4147fa6521940c1640201002def1b55a7eea5fb1c26
3
+ size 164584
GR1/gr1t1/meshes/fourier_hand_6dof/R_hand_base_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fff5b258641f456092347ee54fb2cf585092fc3a8e885a1c665ac747bb4b1b4d
3
+ size 1000084
GR1/gr1t1/meshes/fourier_hand_6dof/R_index_intermediate_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7432776a477366302eff9d65382fbab55d80c9b899fe3d566ea9be5675c40e55
3
+ size 342884
GR1/gr1t1/meshes/fourier_hand_6dof/R_index_proximal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7b710e8fefa757851281cb341016ae8c7b07790debd4b710ddcef7ca4468905c
3
+ size 341884
GR1/gr1t1/meshes/fourier_hand_6dof/R_middle_intermediate_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1acb01ed1a206bef8890670eed9aa2b8591ce4adb6d3bb55885fa22bfdeeb96e
3
+ size 312684
GR1/gr1t1/meshes/fourier_hand_6dof/R_middle_proximal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:69827e9455007127679d6c3b598a9125dbb2f95e2704f5cab6cf8e7f1d8a79b3
3
+ size 341884
GR1/gr1t1/meshes/fourier_hand_6dof/R_pinky_intermediate_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a6c3edf608fc5a545b57e64f0f43da2b27ea5c1a419c24940be0144dc604f51
3
+ size 415384
GR1/gr1t1/meshes/fourier_hand_6dof/R_pinky_proximal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7060eec7b232d8f022011dd8571dea78009c8b12286ed30f6c2f10aaedd21d02
3
+ size 341884
GR1/gr1t1/meshes/fourier_hand_6dof/R_ring_intermediate_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ae72d8710afa1fc3324472ffe614e42363a0d1440c12453a86e4f8d641484679
3
+ size 342884
GR1/gr1t1/meshes/fourier_hand_6dof/R_ring_proximal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd88d5c94deccf87076f218ebe976b9e49cd94a666d3cd37e97fa7f342cee13f
3
+ size 341884
GR1/gr1t1/meshes/fourier_hand_6dof/R_thumb_distal_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:99739aad6823cfdcf5f0de18d71716c4e230619e6e595fa964aa29ff3537c0f0
3
+ size 287384
GR1/gr1t1/meshes/fourier_hand_6dof/R_thumb_proximal_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f3cb9b0ebd3e7688ac0cec52e8535606377869aefe0ce5e68944ecdd3e36d365
3
+ size 627584
GR1/gr1t1/meshes/fourier_hand_6dof/R_thumb_proximal_yaw_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a40df6a53723a6c0c8c5944abb32937bd1f11561bd6c9876ee32ccdcaaf45c11
3
+ size 169584
GR1/gr1t1/meshes/gr1t1/IMU_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:603f4d69e44065a071e5f76c73d0dc5075891aefd4dcccbaeeb07540102373d9
3
+ size 122384
GR1/gr1t1/meshes/gr1t1/base_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:677eebf6ca3f3a8df5cba86de8e511205426b1df5adeccc9411de4216da07003
3
+ size 750084
GR1/gr1t1/meshes/gr1t1/head_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f07d58daa82ef8c4cfaf7d1e2ed2343c2e434819f5857b20b6406f9eb5c9b553
3
+ size 600084
GR1/gr1t1/meshes/gr1t1/head_roll_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:620690830228caed91530b00ec997ba4b5f7a20ca003ea14c3563a96ca0e885d
3
+ size 500034
GR1/gr1t1/meshes/gr1t1/head_yaw_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:32fba24565696ea56477a942bc9285edb112eed6e0fac5cd6b7eba59de0f7f87
3
+ size 600034
GR1/gr1t1/meshes/gr1t1/left_foot_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d6b8315da0e5885af4b47a8190210827c43c54b1317ebc03efc20abf45ba5c85
3
+ size 237284
GR1/gr1t1/meshes/gr1t1/left_foot_roll_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e02318187bc04a588493796b033d109ddbc51155912a63762dd8f0627f4430d5
3
+ size 375084
GR1/gr1t1/meshes/gr1t1/left_hand_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2e04b1393e8909ebb171c84e186865e5402e1abb6c9d32dfa6381561213a10b5
3
+ size 318084
GR1/gr1t1/meshes/gr1t1/left_hand_roll_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4449ab0db4ec8347c5b91fc1b4f817f7382c88bbd19c3e882f08349a225646b3
3
+ size 140584
GR1/gr1t1/meshes/gr1t1/left_hand_yaw_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:689f11a5592169ea18cfb7e610b23453bf64ab4112a00d5141d20c0b9f36f3c3
3
+ size 600034
GR1/gr1t1/meshes/gr1t1/left_lower_arm_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:59b2c03b50036c805631814ff07c989383a88d7110f1ea13879e92c2111d318e
3
+ size 499934
GR1/gr1t1/meshes/gr1t1/left_shank_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b79d32b65cc207679b8caa5c3a603459c44c6ac3a36b17524b8967edbf5b4fa8
3
+ size 750034
GR1/gr1t1/meshes/gr1t1/left_thigh_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eda5313afe79a2121c77dd6c1f6a592b78813a2226e62c4342cd8552c4c7cacf
3
+ size 750084
GR1/gr1t1/meshes/gr1t1/left_thigh_roll_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:52bc8ff52b4d50f8632c763651a5097b5bb4305dd0007e236dc4aa312b793c22
3
+ size 750084
GR1/gr1t1/meshes/gr1t1/left_thigh_yaw_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:061684bf63fa5483a76362266d57437bb8aae0adf41c25826ed551c1e7de5b19
3
+ size 750084
GR1/gr1t1/meshes/gr1t1/left_upper_arm_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2a28d150e085c19fce2e2ef82e693577a65319524a57aae2402ebcc5d264f6c2
3
+ size 600034
GR1/gr1t1/meshes/gr1t1/left_upper_arm_roll_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4e78816dd26925c4c4dc1b769558486f40803c8d555a2955b27ce3cf8e90895
3
+ size 500084
GR1/gr1t1/meshes/gr1t1/left_upper_arm_yaw_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:88f81c82218c1d9b177353a1282211ea287af686b1ac536d31ede1aeebc03c57
3
+ size 600084
GR1/gr1t1/meshes/gr1t1/right_foot_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b86ff035b3932b043768b5cede9009cc8700296920fe28488ff781962bc32534
3
+ size 237284
GR1/gr1t1/meshes/gr1t1/right_foot_roll_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c601cefd8d0b76efd20dca174955c7dfc237b10d7f9061a771e5895fecc979a7
3
+ size 375034
GR1/gr1t1/meshes/gr1t1/right_hand_pitch_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e0724b15baeb5907e71f081494d28b7c5037547edac198b59d5d67eeb9bc9d3d
3
+ size 318084