| <robot name="shadowhand"> | |
| <material name="Blue"> | |
| <color rgba="0.0 0.0 0.8 1.0" /> | |
| </material> | |
| <material name="Green"> | |
| <color rgba="0.0 0.8 0.0 1.0" /> | |
| </material> | |
| <material name="Grey"> | |
| <color rgba="0.2 0.2 0.2 1.0" /> | |
| </material> | |
| <material name="LightGrey"> | |
| <color rgba="0.6 0.6 0.6 1.0" /> | |
| </material> | |
| <material name="Red"> | |
| <color rgba="0.8 0.0 0.0 1.0" /> | |
| </material> | |
| <material name="White"> | |
| <color rgba="1.0 1.0 1.0 1.0" /> | |
| </material> | |
| <link name="forearm"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0.09" /> | |
| <mass value="3.0" /> | |
| <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="shadow_forearm_geom"> | |
| <mesh filename="description/sr_grasp_description/meshes/forearm.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.09" /> | |
| <geometry name="shadow_forearm_collision"> | |
| <cylinder length="0.180" radius="0.06" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <link name="wrist"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0.0 0.0" /> | |
| <mass value="0.1" /> | |
| <inertia ixx="0.120" ixy="0.0" ixz="0.0" iyy="0.148" iyz="0.0" izz="0.0438" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="wrist_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/wrist.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="LightGrey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="wrist_collision_geom"> | |
| <box size="0.02 0.02 0.02" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="WRJ2" type="revolute"> | |
| <parent link="forearm" /> | |
| <child link="wrist" /> | |
| <origin rpy="0 0 0" xyz="0 -0.010 0.213" /> | |
| <axis xyz="0 1 0" /> | |
| <limit effort="5" lower="-0.52359877559829882" upper="0.17453292519943295" velocity="1.0" /> | |
| <dynamics damping="100.5" /> | |
| </joint> | |
| <link name="palm"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0.035" /> | |
| <mass value="0.3" /> | |
| <inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.3" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="palm_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/palm.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0.005 0 0.035" /> | |
| <geometry name="palm_collision_geom"> | |
| <box size="0.05 0.02 0.07" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="WRJ1" type="revolute"> | |
| <parent link="wrist" /> | |
| <child link="palm" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.034" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="5" lower="-0.78539816339744828" upper="0.6108652381980153" velocity="1.0" /> | |
| <dynamics damping="100.5" /> | |
| </joint> | |
| <link name="ffknuckle"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <mass value="0.008" /> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0.0005" /> | |
| <geometry name="knuckle_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/knuckle.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="LightGrey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="knuckle_collision_geom"> | |
| <box size="0.005 0.005 0.005" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="FFJ4" type="revolute"> | |
| <parent link="palm" /> | |
| <child link="ffknuckle" /> | |
| <origin rpy="0 0 0" xyz="0.033 0 0.095" /> | |
| <axis xyz="0 -1 0" /> | |
| <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="ffproximal"> | |
| <inertial> | |
| <mass value="0.014" /> | |
| <origin xyz="0 0 0.0225" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="proximal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F3.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0 " xyz="0 0 0.025" /> | |
| <geometry name="proximal_collision_geom"> | |
| <box size="0.008 0.008 0.04" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="FFJ3" type="revolute"> | |
| <parent link="ffknuckle" /> | |
| <child link="ffproximal" /> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="ffmiddle"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0.0125" /> | |
| <mass value="0.012" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="middle_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F2.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.0125" /> | |
| <geometry name="middle_collision_geom"> | |
| <box size="0.008 0.008 0.015" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="FFJ2" type="revolute"> | |
| <parent link="ffproximal" /> | |
| <child link="ffmiddle" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.045" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="ffdistal"> | |
| <inertial> | |
| <mass value="0.010" /> | |
| <origin xyz="0 0 0.013" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="distal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/distal_ellipsoid.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="distal_collision_geom"> | |
| <mesh filename="description/sr_grasp_description/meshes/distal_ellipsoid.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="FFJ1" type="revolute"> | |
| <parent link="ffmiddle" /> | |
| <child link="ffdistal" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.025" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="fftip"> | |
| <inertial> | |
| <mass value="0.001" /> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| </link> | |
| <joint name="FFtip" type="fixed"> | |
| <parent link="ffdistal" /> | |
| <child link="fftip" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.026" /> | |
| </joint> | |
| <link name="mfknuckle"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <mass value="0.008" /> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0.0005" /> | |
| <geometry name="knuckle_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/knuckle.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="LightGrey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="knuckle_collision_geom"> | |
| <box size="0.005 0.005 0.005" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="MFJ4" type="revolute"> | |
| <parent link="palm" /> | |
| <child link="mfknuckle" /> | |
| <origin rpy="0 0 0" xyz="0.011 0 0.099" /> | |
| <axis xyz="0 -1 0" /> | |
| <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="mfproximal"> | |
| <inertial> | |
| <mass value="0.014" /> | |
| <origin xyz="0 0 0.0225" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="proximal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F3.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0 " xyz="0 0 0.025" /> | |
| <geometry name="proximal_collision_geom"> | |
| <box size="0.008 0.008 0.04" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="MFJ3" type="revolute"> | |
| <parent link="mfknuckle" /> | |
| <child link="mfproximal" /> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="mfmiddle"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0.0125" /> | |
| <mass value="0.012" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="middle_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F2.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.0125" /> | |
| <geometry name="middle_collision_geom"> | |
| <box size="0.008 0.008 0.015" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="MFJ2" type="revolute"> | |
| <parent link="mfproximal" /> | |
| <child link="mfmiddle" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.045" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="mfdistal"> | |
| <inertial> | |
| <mass value="0.010" /> | |
| <origin xyz="0 0 0.013" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="distal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F1.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="distal_collision_geom"> | |
| <mesh filename="description/sr_grasp_description/meshes/F1.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="MFJ1" type="revolute"> | |
| <parent link="mfmiddle" /> | |
| <child link="mfdistal" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.025" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="mftip"> | |
| <inertial> | |
| <mass value="0.001" /> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| </link> | |
| <joint name="MFtip" type="fixed"> | |
| <parent link="mfdistal" /> | |
| <child link="mftip" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.026" /> | |
| </joint> | |
| <link name="rfknuckle"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <mass value="0.008" /> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0.0005" /> | |
| <geometry name="knuckle_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/knuckle.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="LightGrey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="knuckle_collision_geom"> | |
| <box size="0.005 0.005 0.005" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="RFJ4" type="revolute"> | |
| <parent link="palm" /> | |
| <child link="rfknuckle" /> | |
| <origin rpy="0 0 0" xyz="-0.011 0 0.095" /> | |
| <axis xyz="0 1 0" /> | |
| <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="rfproximal"> | |
| <inertial> | |
| <mass value="0.014" /> | |
| <origin xyz="0 0 0.0225" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="proximal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F3.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0 " xyz="0 0 0.025" /> | |
| <geometry name="proximal_collision_geom"> | |
| <box size="0.008 0.008 0.04" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="RFJ3" type="revolute"> | |
| <parent link="rfknuckle" /> | |
| <child link="rfproximal" /> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="rfmiddle"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0.0125" /> | |
| <mass value="0.012" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="middle_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F2.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.0125" /> | |
| <geometry name="middle_collision_geom"> | |
| <box size="0.008 0.008 0.015" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="RFJ2" type="revolute"> | |
| <parent link="rfproximal" /> | |
| <child link="rfmiddle" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.045" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="rfdistal"> | |
| <inertial> | |
| <mass value="0.010" /> | |
| <origin xyz="0 0 0.013" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="distal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/distal_ellipsoid.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="distal_collision_geom"> | |
| <mesh filename="description/sr_grasp_description/meshes/distal_ellipsoid.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="RFJ1" type="revolute"> | |
| <parent link="rfmiddle" /> | |
| <child link="rfdistal" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.025" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="rftip"> | |
| <inertial> | |
| <mass value="0.001" /> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| </link> | |
| <joint name="RFtip" type="fixed"> | |
| <parent link="rfdistal" /> | |
| <child link="rftip" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.026" /> | |
| </joint> | |
| <link name="lfmetacarpal"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0.04" /> | |
| <mass value="0.075" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="lfmetacarpal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/lfmetacarpal.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.04" /> | |
| <geometry name="lfmetacarpal_collision_geom"> | |
| <box size="0.008 0.008 0.03" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="LFJ5" type="revolute"> | |
| <parent link="palm" /> | |
| <child link="lfmetacarpal" /> | |
| <origin rpy="0 0 0" xyz="-0.033 0 0.02071" /> | |
| <axis xyz="0.573576436 0 0.819152044" /> | |
| <limit effort="100" lower="0" upper="0.69813170079773179" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="lfknuckle"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0.06579" /> | |
| <mass value="0.008" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="knuckle_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/knuckle.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="LightGrey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="knuckle_collision_geom"> | |
| <box size="0.005 0.005 0.005" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="LFJ4" type="revolute"> | |
| <parent link="lfmetacarpal" /> | |
| <child link="lfknuckle" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.06579" /> | |
| <axis xyz="0 1 0" /> | |
| <limit effort="100" lower="-0.43633231299858238" upper="0.43633231299858238" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="lfproximal"> | |
| <inertial> | |
| <mass value="0.014" /> | |
| <origin xyz="0 0 0.0225" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="proximal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F3.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0 " xyz="0 0 0.025" /> | |
| <geometry name="proximal_collision_geom"> | |
| <box size="0.008 0.008 0.04" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="LFJ3" type="revolute"> | |
| <parent link="lfknuckle" /> | |
| <child link="lfproximal" /> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="lfmiddle"> | |
| <inertial> | |
| <origin rpy="0 0 0" xyz="0 0 0.0125" /> | |
| <mass value="0.012" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="middle_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F2.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.0125" /> | |
| <geometry name="middle_collision_geom"> | |
| <box size="0.008 0.008 0.015" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="LFJ2" type="revolute"> | |
| <parent link="lfproximal" /> | |
| <child link="lfmiddle" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.045" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="lfdistal"> | |
| <inertial> | |
| <mass value="0.010" /> | |
| <origin xyz="0 0 0.013" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="distal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/F1.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="Grey" /> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="distal_collision_geom"> | |
| <mesh filename="description/sr_grasp_description/meshes/F1.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="LFJ1" type="revolute"> | |
| <parent link="lfmiddle" /> | |
| <child link="lfdistal" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.025" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.57079632679" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="lftip"> | |
| <inertial> | |
| <mass value="0.001" /> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| </link> | |
| <joint name="LFtip" type="fixed"> | |
| <parent link="lfdistal" /> | |
| <child link="lftip" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.026" /> | |
| </joint> | |
| <link name="thbase"> | |
| <inertial> | |
| <mass value="0.010" /> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.1" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="thbase_visual"> | |
| <box size="0.001 0.001 0.001" /> | |
| </geometry> | |
| <material name="shadow_thbase_material"> | |
| <color rgba="0.5 0.5 0.5 1.0" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0 " xyz="0 0 0" /> | |
| <geometry name="thbase_collision_geom"> | |
| <box size="0.001 0.001 0.001" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="THJ5" type="revolute"> | |
| <parent link="palm" /> | |
| <child link="thbase" /> | |
| <origin rpy="0 0.785398163397 0" xyz="0.034 -0.0085 0.029" /> | |
| <axis xyz="0 0 -1.0" /> | |
| <limit effort="100" lower="-1.047" upper="1.047" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="thproximal"> | |
| <inertial> | |
| <mass value="0.016" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.019" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="thproximal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/TH3_z.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="shadow_thproximal_material"> | |
| <color rgba="0.2 0.2 0.2 1.0" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0" xyz="0 0 0.019" /> | |
| <geometry name="thproximal_collision_geom"> | |
| <box size="0.008 0.008 0.020" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="THJ4" type="revolute"> | |
| <parent link="thbase" /> | |
| <child link="thproximal" /> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <axis xyz="1.0 0 0" /> | |
| <limit effort="100" lower="0" upper="1.309" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="thhub"> | |
| <inertial> | |
| <mass value="0.002" /> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="thhub_visual"> | |
| <box size="0.001 0.001 0.001" /> | |
| </geometry> | |
| <material name="shadow_thhub_material"> | |
| <color rgba="0.7 0.7 0.7 1.0" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0 " xyz="0 0 0" /> | |
| <geometry name="thhub_collision_geom"> | |
| <box size="0.001 0.001 0.001" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="THJ3" type="revolute"> | |
| <parent link="thproximal" /> | |
| <child link="thhub" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.038" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="-0.2618" upper="0.2618" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="thmiddle"> | |
| <inertial> | |
| <mass value="0.016" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.016" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <geometry name="thmiddle_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/TH2_z.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="shadow_thmiddle_material"> | |
| <color rgba="0.2 0.2 0.2 1.0" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0 " xyz="0 0 0.016" /> | |
| <geometry name="thmiddle_collision_geom"> | |
| <box size="0.008 0.008 0.015" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="THJ2" type="revolute"> | |
| <parent link="thhub" /> | |
| <child link="thmiddle" /> | |
| <origin rpy="0 0 0" xyz="0 0 0" /> | |
| <axis xyz="0 -1 0" /> | |
| <limit effort="100" lower="-0.5237" upper="0.5237" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="thdistal"> | |
| <inertial> | |
| <mass value="0.016" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.01375" /> | |
| <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" /> | |
| </inertial> | |
| <visual> | |
| <origin rpy="0 0 0" xyz="0 0.002 0.0025" /> | |
| <geometry name="thdistal_visual"> | |
| <mesh filename="description/sr_grasp_description/meshes/distal_ellipsoid.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| <material name="shadow_thmiddle_material"> | |
| <color rgba="0.2 0.2 0.2 1.0" /> | |
| </material> | |
| </visual> | |
| <collision> | |
| <origin rpy="0 0 0 " xyz="0 0.002 0.0025" /> | |
| <geometry name="thmiddle_collision_geom"> | |
| <mesh filename="description/sr_grasp_description/meshes/distal_ellipsoid.dae" scale="0.1 0.1 0.1" /> | |
| </geometry> | |
| </collision> | |
| </link> | |
| <joint name="THJ1" type="revolute"> | |
| <parent link="thmiddle" /> | |
| <child link="thdistal" /> | |
| <origin rpy="0 0 -1.570796327" xyz="0 0 0.032" /> | |
| <axis xyz="1 0 0" /> | |
| <limit effort="100" lower="0" upper="1.571" velocity="1.0" /> | |
| <dynamics damping="50.5" /> | |
| </joint> | |
| <link name="thtip"> | |
| <inertial> | |
| <mass value="0.001" /> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" /> | |
| </inertial> | |
| </link> | |
| <joint name="thtip" type="fixed"> | |
| <parent link="thdistal" /> | |
| <child link="thtip" /> | |
| <origin rpy="0 0 0" xyz="0 0 0.0275" /> | |
| </joint> | |
| </robot> | |