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<?xml version="1.0" encoding="utf-8"?> |
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<robot |
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name="h1"> |
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<link |
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name="pelvis"> |
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<inertial> |
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<origin |
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xyz="-0.0002 4E-05 -0.04522" |
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rpy="0 0 0" /> |
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<mass |
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value="5.39" /> |
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<inertia |
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|
ixx="0.044582" |
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ixy="8.7034E-05" |
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ixz="-1.9893E-05" |
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iyy="0.0082464" |
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|
iyz="4.021E-06" |
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|
izz="0.049021" /> |
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</inertial> |
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<visual> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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<geometry> |
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<mesh |
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filename="H1/meshes/pelvis.dae" /> |
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</geometry> |
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<material |
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name=""> |
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<color |
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rgba="0.1 0.1 0.1 1" /> |
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</material> |
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</visual> |
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<collision> |
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<origin xyz="0 0 0" rpy="0 0 0" /> |
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<geometry> |
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<sphere radius="0.05"/> |
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</geometry> |
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</collision> |
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</link> |
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<link |
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name="left_hip_yaw_link"> |
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<inertial> |
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<origin |
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xyz="-0.04923 0.0001 0.0072" |
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rpy="0 0 0" /> |
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<mass |
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value="2.244" /> |
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<inertia |
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ixx="0.0025731" |
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ixy="9.159E-06" |
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ixz="-0.00051948" |
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iyy="0.0030444" |
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iyz="1.949E-06" |
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izz="0.0022883" /> |
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</inertial> |
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<visual> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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<geometry> |
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<mesh |
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filename="H1/meshes/left_hip_yaw_link.dae" /> |
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</geometry> |
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<material |
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name=""> |
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<color |
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rgba="0.1 0.1 0.1 1" /> |
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</material> |
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</visual> |
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<collision> |
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<origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" /> |
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<geometry> |
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<cylinder radius="0.01" length="0.02"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint |
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name="left_hip_yaw_joint" |
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type="revolute"> |
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<origin |
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xyz="0 0.0875 -0.1742" |
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rpy="0 0 0" /> |
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<parent |
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link="pelvis" /> |
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<child |
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link="left_hip_yaw_link" /> |
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<axis |
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xyz="0 0 1" /> |
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<limit |
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lower="-0.43" |
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upper="0.43" |
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effort="200" |
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velocity="23" /> |
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</joint> |
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<link |
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name="left_hip_roll_link"> |
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<inertial> |
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<origin |
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xyz="-0.0058 -0.00319 -9E-05" |
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rpy="0 0 0" /> |
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<mass |
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value="2.232" /> |
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<inertia |
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ixx="0.0020603" |
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ixy="3.2115E-05" |
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ixz="2.878E-06" |
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iyy="0.0022482" |
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iyz="-7.813E-06" |
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izz="0.0024323" /> |
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</inertial> |
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<visual> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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<geometry> |
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<mesh |
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filename="H1/meshes/left_hip_roll_link.dae" /> |
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</geometry> |
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<material |
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name=""> |
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<color |
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rgba="0.1 0.1 0.1 1" /> |
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</material> |
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</visual> |
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<collision> |
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<origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0" /> |
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<geometry> |
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<cylinder radius="0.02" length="0.01"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint |
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name="left_hip_roll_joint" |
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type="revolute"> |
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<origin |
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xyz="0.039468 0 0" |
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rpy="0 0 0" /> |
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<parent |
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link="left_hip_yaw_link" /> |
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<child |
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link="left_hip_roll_link" /> |
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<axis |
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xyz="1 0 0" /> |
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<limit |
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lower="-0.43" |
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upper="0.43" |
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|
effort="200" |
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velocity="23" /> |
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</joint> |
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|
<link |
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name="left_hip_pitch_link"> |
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|
<inertial> |
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|
<origin |
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|
xyz="0.00746 -0.02346 -0.08193" |
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rpy="0 0 0" /> |
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<mass |
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value="4.152" /> |
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<inertia |
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ixx="0.082618" |
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ixy="-0.00066654" |
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ixz="0.0040725" |
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iyy="0.081579" |
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iyz="0.0072024" |
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|
izz="0.0060081" /> |
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</inertial> |
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<visual> |
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<origin |
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|
xyz="0 0 0" |
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|
rpy="0 0 0" /> |
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|
<geometry> |
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|
<mesh |
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filename="H1/meshes/left_hip_pitch_link.dae" /> |
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|
</geometry> |
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|
<material |
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|
name=""> |
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<color |
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rgba="0.1 0.1 0.1 1" /> |
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|
</material> |
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|
</visual> |
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|
<collision> |
|
|
<origin xyz="0 0 -0.2" rpy="0 0 0" /> |
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<geometry> |
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|
<cylinder radius="0.05" length="0.2"/> |
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|
</geometry> |
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|
</collision> |
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|
</link> |
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|
<joint |
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name="left_hip_pitch_joint" |
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|
type="revolute"> |
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|
<origin |
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|
xyz="0 0.11536 0" |
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|
rpy="0 0 0" /> |
|
|
<parent |
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|
link="left_hip_roll_link" /> |
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|
<child |
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|
link="left_hip_pitch_link" /> |
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|
<axis |
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|
xyz="0 1 0" /> |
|
|
<limit |
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|
lower="-3.14" |
|
|
upper="2.53" |
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|
effort="200" |
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|
velocity="23" /> |
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</joint> |
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|
<link |
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name="left_knee_link"> |
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|
<inertial> |
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|
<origin |
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|
xyz="-0.00136 -0.00512 -0.1384" |
|
|
rpy="0 0 0" /> |
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<mass |
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value="1.721" /> |
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<inertia |
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|
ixx="0.012205" |
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|
ixy="-6.8431E-05" |
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ixz="0.0010862" |
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iyy="0.012509" |
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iyz="0.00022549" |
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|
izz="0.0020629" /> |
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</inertial> |
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<visual> |
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<origin |
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xyz="0 0 0" |
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rpy="0 0 0" /> |
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|
<geometry> |
|
|
<mesh |
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|
filename="H1/meshes/left_knee_link.dae" /> |
|
|
</geometry> |
|
|
<material |
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|
name=""> |
|
|
<color |
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|
rgba="0.1 0.1 0.1 1" /> |
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|
</material> |
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|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 -0.2" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.05" length="0.2"/> |
|
|
</geometry> |
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|
</collision> |
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|
</link> |
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|
<joint |
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|
name="left_knee_joint" |
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|
type="revolute"> |
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|
<origin |
|
|
xyz="0 0 -0.4" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="left_hip_pitch_link" /> |
|
|
<child |
|
|
link="left_knee_link" /> |
|
|
<axis |
|
|
xyz="0 1 0" /> |
|
|
<limit |
|
|
lower="-0.26" |
|
|
upper="2.05" |
|
|
effort="300" |
|
|
velocity="14" /> |
|
|
</joint> |
|
|
<link |
|
|
name="left_ankle_link"> |
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|
<inertial> |
|
|
<origin |
|
|
xyz="0.042575 -0.000001 -0.044672" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.474" /> |
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<inertia |
|
|
ixx="0.000159668" |
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ixy="-0.000000005" |
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ixz="0.000141063" |
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iyy="0.002900286" |
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iyz="0.000000014" |
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|
izz="0.002805438" /> |
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</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
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|
rpy="0 0 0" /> |
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|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/left_ankle_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
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rgba="0.1 0.1 0.1 1" /> |
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</material> |
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</visual> |
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<collision> |
|
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<origin xyz="0.05 0.0 -0.05" rpy="0 0 0" /> |
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<geometry> |
|
|
<box size="0.28 0.03 0.024"/> |
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|
</geometry> |
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|
</collision> |
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</link> |
|
|
<joint |
|
|
name="left_ankle_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0 0 -0.4" |
|
|
rpy="0 0 0" /> |
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<parent |
|
|
link="left_knee_link" /> |
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|
<child |
|
|
link="left_ankle_link" /> |
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|
<axis |
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|
xyz="0 1 0" /> |
|
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<limit |
|
|
lower="-0.87" |
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|
upper="0.52" |
|
|
effort="40" |
|
|
velocity="9" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_hip_yaw_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="-0.04923 -0.0001 0.0072" |
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|
rpy="0 0 0" /> |
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<mass |
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value="2.244" /> |
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<inertia |
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|
ixx="0.0025731" |
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ixy="-9.159E-06" |
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ixz="-0.00051948" |
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iyy="0.0030444" |
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iyz="-1.949E-06" |
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|
izz="0.0022883" /> |
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</inertial> |
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<visual> |
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<origin |
|
|
xyz="0 0 0" |
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|
rpy="0 0 0" /> |
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|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_hip_yaw_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
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</material> |
|
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</visual> |
|
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<collision> |
|
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<origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" /> |
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<geometry> |
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|
<cylinder radius="0.01" length="0.02"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_hip_yaw_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0 -0.0875 -0.1742" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="pelvis" /> |
|
|
<child |
|
|
link="right_hip_yaw_link" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="-0.43" |
|
|
upper="0.43" |
|
|
effort="200" |
|
|
velocity="23" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_hip_roll_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="-0.0058 0.00319 -9E-05" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
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|
value="2.232" /> |
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|
<inertia |
|
|
ixx="0.0020603" |
|
|
ixy="-3.2115E-05" |
|
|
ixz="2.878E-06" |
|
|
iyy="0.0022482" |
|
|
iyz="7.813E-06" |
|
|
izz="0.0024323" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_hip_roll_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0" /> |
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<geometry> |
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<cylinder radius="0.02" length="0.01"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_hip_roll_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.039468 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="right_hip_yaw_link" /> |
|
|
<child |
|
|
link="right_hip_roll_link" /> |
|
|
<axis |
|
|
xyz="1 0 0" /> |
|
|
<limit |
|
|
lower="-0.43" |
|
|
upper="0.43" |
|
|
effort="200" |
|
|
velocity="23" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_hip_pitch_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.00746 0.02346 -0.08193" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="4.152" /> |
|
|
<inertia |
|
|
ixx="0.082618" |
|
|
ixy="0.00066654" |
|
|
ixz="0.0040725" |
|
|
iyy="0.081579" |
|
|
iyz="-0.0072024" |
|
|
izz="0.0060081" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_hip_pitch_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 -0.2" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.05" length="0.2"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_hip_pitch_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0 -0.11536 0" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="right_hip_roll_link" /> |
|
|
<child |
|
|
link="right_hip_pitch_link" /> |
|
|
<axis |
|
|
xyz="0 1 0" /> |
|
|
<limit |
|
|
lower="-3.14" |
|
|
upper="2.53" |
|
|
effort="200" |
|
|
velocity="23" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_knee_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="-0.00136 0.00512 -0.1384" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="1.721" /> |
|
|
<inertia |
|
|
ixx="0.012205" |
|
|
ixy="6.8431E-05" |
|
|
ixz="0.0010862" |
|
|
iyy="0.012509" |
|
|
iyz="-0.00022549" |
|
|
izz="0.0020629" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_knee_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 -0.2" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.05" length="0.2"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_knee_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0 0 -0.4" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="right_hip_pitch_link" /> |
|
|
<child |
|
|
link="right_knee_link" /> |
|
|
<axis |
|
|
xyz="0 1 0" /> |
|
|
<limit |
|
|
lower="-0.26" |
|
|
upper="2.05" |
|
|
effort="300" |
|
|
velocity="14" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_ankle_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.042575 0.000001 -0.044672" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.474" /> |
|
|
<inertia |
|
|
ixx="0.000159668" |
|
|
ixy="0.000000005" |
|
|
ixz="0.000141063" |
|
|
iyy="0.002900286" |
|
|
iyz="-0.000000014" |
|
|
izz="0.002805438" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_ankle_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0.05 0.0 -0.05" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<box size="0.28 0.03 0.024"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_ankle_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0 0 -0.4" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="right_knee_link" /> |
|
|
<child |
|
|
link="right_ankle_link" /> |
|
|
<axis |
|
|
xyz="0 1 0" /> |
|
|
<limit |
|
|
lower="-0.87" |
|
|
upper="0.52" |
|
|
effort="40" |
|
|
velocity="9" /> |
|
|
</joint> |
|
|
<link |
|
|
name="torso_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.000489 0.002797 0.20484" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="17.789" /> |
|
|
<inertia |
|
|
ixx="0.4873" |
|
|
ixy="-0.00053763" |
|
|
ixz="0.0020276" |
|
|
iyy="0.40963" |
|
|
iyz="-0.00074582" |
|
|
izz="0.12785" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/torso_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 0.15" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<box size="0.08 0.16 0.1"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="torso_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="pelvis" /> |
|
|
<child |
|
|
link="torso_link" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="-2.35" |
|
|
upper="2.35" |
|
|
effort="200" |
|
|
velocity="23" /> |
|
|
</joint> |
|
|
<link |
|
|
name="left_shoulder_pitch_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.005045 0.053657 -0.015715" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="1.033" /> |
|
|
<inertia |
|
|
ixx="0.0012985" |
|
|
ixy="-1.7333E-05" |
|
|
ixz="8.683E-06" |
|
|
iyy="0.00087279" |
|
|
iyz="3.9656E-05" |
|
|
izz="0.00097338" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/left_shoulder_pitch_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 -0.05 0" rpy="1.5707963267948966192313216916398 0 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.03" length="0.04"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="left_shoulder_pitch_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.0055 0.15535 0.42999" |
|
|
rpy="0.43633 0 0" /> |
|
|
<parent |
|
|
link="torso_link" /> |
|
|
<child |
|
|
link="left_shoulder_pitch_link" /> |
|
|
<axis |
|
|
xyz="0 1 0" /> |
|
|
<limit |
|
|
lower="-2.87" |
|
|
upper="2.87" |
|
|
effort="40" |
|
|
velocity="9" /> |
|
|
</joint> |
|
|
<link |
|
|
name="left_shoulder_roll_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.000679 0.00115 -0.094076" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.793" /> |
|
|
<inertia |
|
|
ixx="0.0015742" |
|
|
ixy="2.298E-06" |
|
|
ixz="-7.2265E-05" |
|
|
iyy="0.0016973" |
|
|
iyz="-6.3691E-05" |
|
|
izz="0.0010183" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/left_shoulder_roll_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 -0.04" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.04" length="0.01"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="left_shoulder_roll_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0055 0.0565 -0.0165" |
|
|
rpy="-0.43633 0 0" /> |
|
|
<parent |
|
|
link="left_shoulder_pitch_link" /> |
|
|
<child |
|
|
link="left_shoulder_roll_link" /> |
|
|
<axis |
|
|
xyz="1 0 0" /> |
|
|
<limit |
|
|
lower="-0.34" |
|
|
upper="3.11" |
|
|
effort="40" |
|
|
velocity="9" /> |
|
|
</joint> |
|
|
<link |
|
|
name="left_shoulder_yaw_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.01365 0.002767 -0.16266" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.839" /> |
|
|
<inertia |
|
|
ixx="0.003664" |
|
|
ixy="-1.0671E-05" |
|
|
ixz="0.00034733" |
|
|
iyy="0.0040789" |
|
|
iyz="7.0213E-05" |
|
|
izz="0.00066383" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/left_shoulder_yaw_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 -0.11" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.04" length="0.01"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="left_shoulder_yaw_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0 0 -0.1343" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="left_shoulder_roll_link" /> |
|
|
<child |
|
|
link="left_shoulder_yaw_link" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="-1.3" |
|
|
upper="4.45" |
|
|
effort="18" |
|
|
velocity="20" /> |
|
|
</joint> |
|
|
<link |
|
|
name="left_elbow_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.164862 0.000118 -0.015734" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.723" /> |
|
|
<inertia |
|
|
ixx="0.00049639" |
|
|
ixy="-0.000033971" |
|
|
ixz="0.000316026" |
|
|
iyy="0.006456355" |
|
|
iyz="0.000004929" |
|
|
izz="0.006450997" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/left_elbow_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0.125 0 0" rpy="0 1.57 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.03" length="0.09"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="left_elbow_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.0185 0 -0.198" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="left_shoulder_yaw_link" /> |
|
|
<child |
|
|
link="left_elbow_link" /> |
|
|
<axis |
|
|
xyz="0 1 0" /> |
|
|
<limit |
|
|
lower="-1.25" |
|
|
upper="2.61" |
|
|
effort="18" |
|
|
velocity="20" /> |
|
|
</joint> |
|
|
<link |
|
|
name="left_hand_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.003993 -0.000094 0" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.014" /> |
|
|
<inertia |
|
|
ixx="0.000003449" |
|
|
ixy="0.000000006" |
|
|
ixz="0" |
|
|
iyy="0.000001917" |
|
|
iyz="0" |
|
|
izz="0.000001932" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/left_hand_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/left_hand_link.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="left_hand_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.2605 0 -0.0185" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="left_elbow_link" /> |
|
|
<child |
|
|
link="left_hand_link" /> |
|
|
<axis |
|
|
xyz="1 0 0" /> |
|
|
<limit |
|
|
lower="-3.0543261909900767596164588448551" |
|
|
upper="3.0543261909900767596164588448551" |
|
|
effort="6" |
|
|
velocity="12" /> |
|
|
</joint> |
|
|
<joint |
|
|
name="L_base_link_joint" |
|
|
type="fixed"> |
|
|
<origin |
|
|
xyz="0.003 0 0" |
|
|
rpy="0 0 1.5707963267948966192313216916398" /> |
|
|
<parent link="left_hand_link"/> |
|
|
<child link="L_hand_base_link"/> |
|
|
</joint> |
|
|
|
|
|
<link name="L_hand_base_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="-0.002551 -0.066047 -0.0019357" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.14143" /> |
|
|
<inertia |
|
|
ixx="0.0001234" |
|
|
ixy="2.1995E-06" |
|
|
ixz="-1.7694E-06" |
|
|
iyy="8.3835E-05" |
|
|
iyz="1.5968E-06" |
|
|
izz="7.7231E-05" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/L_hand_base_link.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/L_hand_base_link.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<link name="L_thumb_proximal_base"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0048817 0.00038782 -0.00722" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0018869" /> |
|
|
<inertia |
|
|
ixx="5.5158E-08" |
|
|
ixy="-1.1803E-08" |
|
|
ixz="-4.6743E-09" |
|
|
iyy="8.2164E-08" |
|
|
iyz="-1.3521E-09" |
|
|
izz="6.7434E-08" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link11_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link11_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_thumb_proximal_yaw_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.01696 -0.0691 0.02045" |
|
|
rpy="1.5708 -1.5708 0" /> |
|
|
<parent |
|
|
link="L_hand_base_link" /> |
|
|
<child |
|
|
link="L_thumb_proximal_base" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="-0.1" |
|
|
upper="1.3" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_thumb_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.021936 -0.01279 -0.0080386" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0066101" /> |
|
|
<inertia |
|
|
ixx="1.5693E-06" |
|
|
ixy="7.8339E-07" |
|
|
ixz="8.5959E-10" |
|
|
iyy="1.7356E-06" |
|
|
iyz="1.0378E-09" |
|
|
izz="2.787E-06" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link12_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link12_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_thumb_proximal_pitch_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.0099867 0.0098242 -0.0089" |
|
|
rpy="-1.5708 0 0.16939" /> |
|
|
<parent |
|
|
link="L_thumb_proximal_base" /> |
|
|
<child |
|
|
link="L_thumb_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="-0.1" |
|
|
upper="0.6" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_thumb_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0095531 0.0016282 -0.0072002" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0037844" /> |
|
|
<inertia |
|
|
ixx="3.6981E-07" |
|
|
ixy="9.8603E-08" |
|
|
ixz="-2.8173E-12" |
|
|
iyy="3.2395E-07" |
|
|
iyz="-2.8028E-12" |
|
|
izz="4.6532E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link13_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link13_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_thumb_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.04407 -0.034553 -0.0008" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="L_thumb_proximal" /> |
|
|
<child |
|
|
link="L_thumb_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="0.8" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_thumb_distal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0092888 -0.004953 -0.0060033" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.003344" /> |
|
|
<inertia |
|
|
ixx="1.3632E-07" |
|
|
ixy="5.6787E-08" |
|
|
ixz="-9.1939E-11" |
|
|
iyy="1.4052E-07" |
|
|
iyz="1.2145E-10" |
|
|
izz="2.0026E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link14_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link14_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_thumb_distal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.020248 -0.010156 -0.0012" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="L_thumb_intermediate" /> |
|
|
<child |
|
|
link="L_thumb_distal" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.2" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_index_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0012971 -0.011934 -0.0059998" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0042405" /> |
|
|
<inertia |
|
|
ixx="6.6215E-07" |
|
|
ixy="1.8442E-08" |
|
|
ixz="1.3746E-12" |
|
|
iyy="2.1167E-07" |
|
|
iyz="-1.4773E-11" |
|
|
izz="6.9402E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link15_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link15_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_index_proximal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.00028533 -0.13653 0.032268" |
|
|
rpy="-0.034907 0 0" /> |
|
|
<parent |
|
|
link="L_hand_base_link" /> |
|
|
<child |
|
|
link="L_index_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_index_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0021753 -0.019567 -0.005" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0045682" /> |
|
|
<inertia |
|
|
ixx="7.6284E-07" |
|
|
ixy="-8.063E-08" |
|
|
ixz="3.6797E-13" |
|
|
iyy="9.4308E-08" |
|
|
iyz="1.5743E-13" |
|
|
izz="7.8176E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link16_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link16_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_index_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0024229 -0.032041 -0.001" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="L_index_proximal" /> |
|
|
<child |
|
|
link="L_index_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_middle_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0012971 -0.011934 -0.0059999" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0042405" /> |
|
|
<inertia |
|
|
ixx="6.6215E-07" |
|
|
ixy="1.8442E-08" |
|
|
ixz="1.2299E-12" |
|
|
iyy="2.1167E-07" |
|
|
iyz="-1.4484E-11" |
|
|
izz="6.9402E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link17_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link17_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_middle_proximal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.00028533 -0.1371 0.01295" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="L_hand_base_link" /> |
|
|
<child |
|
|
link="L_middle_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_middle_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.001921 -0.020796 -0.0049999" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0050397" /> |
|
|
<inertia |
|
|
ixx="9.5823E-07" |
|
|
ixy="-1.1425E-07" |
|
|
ixz="-2.4186E-12" |
|
|
iyy="1.0646E-07" |
|
|
iyz="3.6974E-12" |
|
|
izz="9.8385E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link18_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link18_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_middle_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0024229 -0.032041 -0.001" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="L_middle_proximal" /> |
|
|
<child |
|
|
link="L_middle_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_ring_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0012971 -0.011934 -0.0059999" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0042405" /> |
|
|
<inertia |
|
|
ixx="6.6215E-07" |
|
|
ixy="1.8442E-08" |
|
|
ixz="9.6052E-13" |
|
|
iyy="2.1167E-07" |
|
|
iyz="-1.4124E-11" |
|
|
izz="6.9402E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link19_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link19_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_ring_proximal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.00028533 -0.13691 -0.0062872" |
|
|
rpy="0.05236 0 0" /> |
|
|
<parent |
|
|
link="L_hand_base_link" /> |
|
|
<child |
|
|
link="L_ring_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_ring_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0021753 -0.019567 -0.005" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0045682" /> |
|
|
<inertia |
|
|
ixx="7.6285E-07" |
|
|
ixy="-8.0631E-08" |
|
|
ixz="3.3472E-14" |
|
|
iyy="9.4308E-08" |
|
|
iyz="-4.4773E-13" |
|
|
izz="7.8176E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link20_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link20_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_ring_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0024229 -0.032041 -0.001" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="L_ring_proximal" /> |
|
|
<child |
|
|
link="L_ring_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_pinky_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0012971 -0.011934 -0.0059999" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0042405" /> |
|
|
<inertia |
|
|
ixx="6.6215E-07" |
|
|
ixy="1.8442E-08" |
|
|
ixz="1.0279E-12" |
|
|
iyy="2.1167E-07" |
|
|
iyz="-1.4277E-11" |
|
|
izz="6.9402E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link21_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link21_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_pinky_proximal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.00028533 -0.13571 -0.025488" |
|
|
rpy="0.10472 0 0" /> |
|
|
<parent |
|
|
link="L_hand_base_link" /> |
|
|
<child |
|
|
link="L_pinky_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="L_pinky_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0024788 -0.016208 -0.0050001" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0036036" /> |
|
|
<inertia |
|
|
ixx="4.3923E-07" |
|
|
ixy="-4.1355E-08" |
|
|
ixz="1.2263E-12" |
|
|
iyy="7.0315E-08" |
|
|
iyz="3.1311E-12" |
|
|
izz="4.4881E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link22_L.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link22_L.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="L_pinky_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0024229 -0.032041 -0.001" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="L_pinky_proximal" /> |
|
|
<child |
|
|
link="L_pinky_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_shoulder_pitch_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.005045 -0.053657 -0.015715" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="1.033" /> |
|
|
<inertia |
|
|
ixx="0.0012985" |
|
|
ixy="1.7333E-05" |
|
|
ixz="8.683E-06" |
|
|
iyy="0.00087279" |
|
|
iyz="-3.9656E-05" |
|
|
izz="0.00097338" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_shoulder_pitch_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0.05 0" rpy="-1.5707963267948966192313216916398 0 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.03" length="0.04"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_shoulder_pitch_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.0055 -0.15535 0.42999" |
|
|
rpy="-0.43633 0 0" /> |
|
|
<parent |
|
|
link="torso_link" /> |
|
|
<child |
|
|
link="right_shoulder_pitch_link" /> |
|
|
<axis |
|
|
xyz="0 1 0" /> |
|
|
<limit |
|
|
lower="-2.87" |
|
|
upper="2.87" |
|
|
effort="40" |
|
|
velocity="9" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_shoulder_roll_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.000679 -0.00115 -0.094076" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.793" /> |
|
|
<inertia |
|
|
ixx="0.0015742" |
|
|
ixy="-2.298E-06" |
|
|
ixz="-7.2265E-05" |
|
|
iyy="0.0016973" |
|
|
iyz="6.3691E-05" |
|
|
izz="0.0010183" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_shoulder_roll_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 -0.04" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.04" length="0.01"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_shoulder_roll_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0055 -0.0565 -0.0165" |
|
|
rpy="0.43633 0 0" /> |
|
|
<parent |
|
|
link="right_shoulder_pitch_link" /> |
|
|
<child |
|
|
link="right_shoulder_roll_link" /> |
|
|
<axis |
|
|
xyz="1 0 0" /> |
|
|
<limit |
|
|
lower="-3.11" |
|
|
upper="0.34" |
|
|
effort="40" |
|
|
velocity="9" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_shoulder_yaw_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.01365 -0.002767 -0.16266" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.839" /> |
|
|
<inertia |
|
|
ixx="0.003664" |
|
|
ixy="1.0671E-05" |
|
|
ixz="0.00034733" |
|
|
iyy="0.0040789" |
|
|
iyz="-7.0213E-05" |
|
|
izz="0.00066383" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_shoulder_yaw_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0 0 -0.11" rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.04" length="0.01"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_shoulder_yaw_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0 0 -0.1343" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="right_shoulder_roll_link" /> |
|
|
<child |
|
|
link="right_shoulder_yaw_link" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="-4.45" |
|
|
upper="1.3" |
|
|
effort="18" |
|
|
velocity="20" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_elbow_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.164862 -0.000118 -0.015734" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.723" /> |
|
|
<inertia |
|
|
ixx="0.00049639" |
|
|
ixy="0.000033971" |
|
|
ixz="0.000316026" |
|
|
iyy="0.006456355" |
|
|
iyz="-0.000004929" |
|
|
izz="0.006450997" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_elbow_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin xyz="0.125 0 0" rpy="0 1.57 0" /> |
|
|
<geometry> |
|
|
<cylinder radius="0.03" length="0.09"/> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_elbow_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.0185 0 -0.198" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="right_shoulder_yaw_link" /> |
|
|
<child |
|
|
link="right_elbow_link" /> |
|
|
<axis |
|
|
xyz="0 1 0" /> |
|
|
<limit |
|
|
lower="-1.25" |
|
|
upper="2.61" |
|
|
effort="18" |
|
|
velocity="20" /> |
|
|
</joint> |
|
|
<link |
|
|
name="right_hand_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.003993 0.000094 0" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.014" /> |
|
|
<inertia |
|
|
ixx="0.000003449" |
|
|
ixy="-0.000000006" |
|
|
ixz="0" |
|
|
iyy="0.000001917" |
|
|
iyz="0" |
|
|
izz="0.000001932" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_hand_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/right_hand_link.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
<joint |
|
|
name="right_hand_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.2605 0 -0.0185" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="right_elbow_link" /> |
|
|
<child |
|
|
link="right_hand_link" /> |
|
|
<axis |
|
|
xyz="1 0 0" /> |
|
|
<limit |
|
|
lower="-3.0543261909900767596164588448551" |
|
|
upper="3.0543261909900767596164588448551" |
|
|
effort="6" |
|
|
velocity="12" /> |
|
|
</joint> |
|
|
|
|
|
<joint |
|
|
name="R_base_link_joint" |
|
|
type="fixed"> |
|
|
<origin |
|
|
xyz="0.003 0 0" |
|
|
rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" /> |
|
|
<parent link="right_hand_link"/> |
|
|
<child link="R_hand_base_link"/> |
|
|
</joint> |
|
|
|
|
|
<link name="R_hand_base_link"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="-0.0025264 -0.066047 0.0019598" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.14143" /> |
|
|
<inertia |
|
|
ixx="0.00012281" |
|
|
ixy="2.1711E-06" |
|
|
ixz="1.7709E-06" |
|
|
iyy="8.3832E-05" |
|
|
iyz="-1.6551E-06" |
|
|
izz="7.6663E-05" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/R_hand_base_link.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/R_hand_base_link.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<link name="R_thumb_proximal_base"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="-0.0048064 0.0009382 -0.00757" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0018869" /> |
|
|
<inertia |
|
|
ixx="5.816E-08" |
|
|
ixy="1.4539E-08" |
|
|
ixz="4.491E-09" |
|
|
iyy="7.9161E-08" |
|
|
iyz="-1.8727E-09" |
|
|
izz="6.7433E-08" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link11_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link11_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_thumb_proximal_yaw_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.01696 -0.0691 -0.02045" |
|
|
rpy="1.5708 -1.5708 0" /> |
|
|
<parent |
|
|
link="R_hand_base_link" /> |
|
|
<child |
|
|
link="R_thumb_proximal_base" /> |
|
|
<axis |
|
|
xyz="0 0 -1" /> |
|
|
<limit |
|
|
lower="-0.1" |
|
|
upper="1.3" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_thumb_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.021932 0.012785 -0.0080386" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0066075" /> |
|
|
<inertia |
|
|
ixx="1.5686E-06" |
|
|
ixy="-7.8296E-07" |
|
|
ixz="8.9143E-10" |
|
|
iyy="1.7353E-06" |
|
|
iyz="-1.0191E-09" |
|
|
izz="2.786E-06" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link12_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link12_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_thumb_proximal_pitch_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0088099 0.010892 -0.00925" |
|
|
rpy="1.5708 0 2.8587" /> |
|
|
<parent |
|
|
link="R_thumb_proximal_base" /> |
|
|
<child |
|
|
link="R_thumb_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="-0.1" |
|
|
upper="0.6" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_thumb_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0095544 -0.0016282 -0.0071997" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0037847" /> |
|
|
<inertia |
|
|
ixx="3.6981E-07" |
|
|
ixy="-9.8581E-08" |
|
|
ixz="-4.7469E-12" |
|
|
iyy="3.2394E-07" |
|
|
iyz="1.0939E-12" |
|
|
izz="4.6531E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link13_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link13_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_thumb_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.04407 0.034553 -0.0008" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="R_thumb_proximal" /> |
|
|
<child |
|
|
link="R_thumb_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="0.8" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_thumb_distal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0092888 0.0049529 -0.0060033" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0033441" /> |
|
|
<inertia |
|
|
ixx="1.3632E-07" |
|
|
ixy="-5.6788E-08" |
|
|
ixz="-9.2764E-11" |
|
|
iyy="1.4052E-07" |
|
|
iyz="-1.2283E-10" |
|
|
izz="2.0026E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link14_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link14_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_thumb_distal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.020248 0.010156 -0.0012" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="R_thumb_intermediate" /> |
|
|
<child |
|
|
link="R_thumb_distal" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.2" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_index_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0012259 0.011942 -0.0060001" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0042403" /> |
|
|
<inertia |
|
|
ixx="6.6232E-07" |
|
|
ixy="-1.5775E-08" |
|
|
ixz="1.8515E-12" |
|
|
iyy="2.1146E-07" |
|
|
iyz="-5.0828E-12" |
|
|
izz="6.9398E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link15_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link15_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_index_proximal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.00028533 -0.13653 -0.032268" |
|
|
rpy="-3.1067 0 0" /> |
|
|
<parent |
|
|
link="R_hand_base_link" /> |
|
|
<child |
|
|
link="R_index_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_index_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0019697 0.019589 -0.005" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0045683" /> |
|
|
<inertia |
|
|
ixx="7.6111E-07" |
|
|
ixy="8.7637E-08" |
|
|
ixz="-3.7751E-13" |
|
|
iyy="9.6076E-08" |
|
|
iyz="9.9444E-13" |
|
|
izz="7.8179E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link16_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link16_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_index_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0026138 0.032026 -0.001" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="R_index_proximal" /> |
|
|
<child |
|
|
link="R_index_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_middle_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.001297 0.011934 -0.0060001" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0042403" /> |
|
|
<inertia |
|
|
ixx="6.6211E-07" |
|
|
ixy="-1.8461E-08" |
|
|
ixz="1.8002E-12" |
|
|
iyy="2.1167E-07" |
|
|
iyz="-6.6808E-12" |
|
|
izz="6.9397E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link17_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link17_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_middle_proximal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.00028533 -0.1371 -0.01295" |
|
|
rpy="-3.1416 0 0" /> |
|
|
<parent |
|
|
link="R_hand_base_link" /> |
|
|
<child |
|
|
link="R_middle_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_middle_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.001921 0.020796 -0.005" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0050396" /> |
|
|
<inertia |
|
|
ixx="9.5822E-07" |
|
|
ixy="1.1425E-07" |
|
|
ixz="-2.4791E-12" |
|
|
iyy="1.0646E-07" |
|
|
iyz="5.9173E-12" |
|
|
izz="9.8384E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link18_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link18_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_middle_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0024229 0.032041 -0.001" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="R_middle_proximal" /> |
|
|
<child |
|
|
link="R_middle_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_ring_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.001297 0.011934 -0.0060002" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0042403" /> |
|
|
<inertia |
|
|
ixx="6.6211E-07" |
|
|
ixy="-1.8461E-08" |
|
|
ixz="1.5793E-12" |
|
|
iyy="2.1167E-07" |
|
|
iyz="-6.6868E-12" |
|
|
izz="6.9397E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link19_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link19_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_ring_proximal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.00028533 -0.13691 0.0062872" |
|
|
rpy="3.0892 0 0" /> |
|
|
<parent |
|
|
link="R_hand_base_link" /> |
|
|
<child |
|
|
link="R_ring_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_ring_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0021753 0.019567 -0.005" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0045683" /> |
|
|
<inertia |
|
|
ixx="7.6286E-07" |
|
|
ixy="8.0635E-08" |
|
|
ixz="-6.1562E-13" |
|
|
iyy="9.431E-08" |
|
|
iyz="5.8619E-13" |
|
|
izz="7.8177E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link20_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link20_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_ring_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0024229 0.032041 -0.001" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="R_ring_proximal" /> |
|
|
<child |
|
|
link="R_ring_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_pinky_proximal"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.001297 0.011934 -0.0060001" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0042403" /> |
|
|
<inertia |
|
|
ixx="6.6211E-07" |
|
|
ixy="-1.8461E-08" |
|
|
ixz="1.6907E-12" |
|
|
iyy="2.1167E-07" |
|
|
iyz="-6.9334E-12" |
|
|
izz="6.9397E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link21_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link21_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_pinky_proximal_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="0.00028533 -0.13571 0.025488" |
|
|
rpy="3.0369 0 0" /> |
|
|
<parent |
|
|
link="R_hand_base_link" /> |
|
|
<child |
|
|
link="R_pinky_proximal" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
|
|
|
<link name="R_pinky_intermediate"> |
|
|
<inertial> |
|
|
<origin |
|
|
xyz="0.0024748 0.016203 -0.0050031" |
|
|
rpy="0 0 0" /> |
|
|
<mass |
|
|
value="0.0035996" /> |
|
|
<inertia |
|
|
ixx="4.3913E-07" |
|
|
ixy="4.1418E-08" |
|
|
ixz="3.7168E-11" |
|
|
iyy="7.0247E-08" |
|
|
iyz="5.8613E-11" |
|
|
izz="4.4867E-07" /> |
|
|
</inertial> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link22_R.dae" /> |
|
|
</geometry> |
|
|
<material name=""> |
|
|
<color rgba="0.1 0.1 0.1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
<collision> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh filename="H1/meshes/Link22_R.STL" /> |
|
|
</geometry> |
|
|
</collision> |
|
|
</link> |
|
|
|
|
|
<joint |
|
|
name="R_pinky_intermediate_joint" |
|
|
type="revolute"> |
|
|
<origin |
|
|
xyz="-0.0024229 0.032041 -0.001" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="R_pinky_proximal" /> |
|
|
<child |
|
|
link="R_pinky_intermediate" /> |
|
|
<axis |
|
|
xyz="0 0 1" /> |
|
|
<limit |
|
|
lower="0" |
|
|
upper="1.7" |
|
|
effort="1" |
|
|
velocity="0.5" /> |
|
|
</joint> |
|
|
<link |
|
|
name="logo_link"> |
|
|
<visual> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<geometry> |
|
|
<mesh |
|
|
filename="H1/meshes/logo_link.dae" /> |
|
|
</geometry> |
|
|
<material |
|
|
name=""> |
|
|
<color |
|
|
rgba="1 1 1 1" /> |
|
|
</material> |
|
|
</visual> |
|
|
|
|
|
</link> |
|
|
<joint |
|
|
name="logo_joint" |
|
|
type="fixed"> |
|
|
<origin |
|
|
xyz="0 0 0" |
|
|
rpy="0 0 0" /> |
|
|
<parent |
|
|
link="torso_link" /> |
|
|
<child |
|
|
link="logo_link" /> |
|
|
<axis |
|
|
xyz="0 0 0" /> |
|
|
</joint> |
|
|
</robot> |
