add
Browse files- hand_model/jaco_hand_description/jaco_robot.urdf +419 -0
- hand_model/jaco_hand_description/meshes/jaco/0_baseA.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/0_baseB_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/1_shoulder_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/2_upperarm_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/3_forearm_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/4_upperwrist_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/5_lowerwrist_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/6_hand_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/7_index_finger.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/7_pinkie_finger.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/7_thumb_finger.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/ring_1.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/ring_2.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/ring_3.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/ring_4.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/ring_5.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco/ring_6.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/0_baseA.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/0_baseB_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/1_shoulder_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/2_upperarm_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/3_forearm_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/4_upperwrist_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/5_lowerwrist_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/6_hand_limb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/7_finger_mount_index.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/7_finger_mount_pinkie.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/7_finger_mount_thumb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/8_finger_index.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/8_finger_pinkie.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/8_finger_thumb.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/9_finger_index_tip.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/9_finger_pinkie_tip.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/9_finger_thumb_tip.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/ring_1.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/ring_2.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/ring_3.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/ring_4.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/ring_5.STL +0 -0
- hand_model/jaco_hand_description/meshes/jaco2/ring_6.STL +0 -0
- mid-level-data/barrett.pkl +2 -2
- mid-level-data/jaco.pkl +3 -0
- vis_mid_dataset.ipynb +0 -0
hand_model/jaco_hand_description/jaco_robot.urdf
ADDED
@@ -0,0 +1,419 @@
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1 |
+
<!-- =================================================================================== -->
|
2 |
+
<!-- | This document was autogenerated by xacro from urdf/jaco_robot.urdf.xacro | -->
|
3 |
+
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
4 |
+
<!-- =================================================================================== -->
|
5 |
+
<robot name="jaco_robot" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
|
6 |
+
<link name="base_link">
|
7 |
+
</link>
|
8 |
+
<!-- fake cylinder which is actually a box -->
|
9 |
+
<!--xacro:macro name="cyl_inertia" params="mass r h ">
|
10 |
+
<mass value="${mass}"/>
|
11 |
+
<inertia
|
12 |
+
ixx="${mass / 12.0 * (r*r + h*h)}" ixy="0.0" ixz="0.0"
|
13 |
+
iyy="${mass / 12.0 * (h*h + r*r)}" iyz="0.0"
|
14 |
+
izz="${mass / 12.0 * (r*r + r*r)}"/>
|
15 |
+
</xacro:macro-->
|
16 |
+
<!-- ***************** MODEL CORRECTIONS ************************* -->
|
17 |
+
<!-- *************************************************************** -->
|
18 |
+
<!-- from measurements, pitch is -0.2293 -->
|
19 |
+
<!-- MODEL_FIX transforms from wrist to finger mounts -->
|
20 |
+
<!--<xacro:property name="f_thb_m_xyz" value=" 0.037 0.001 0.106" />
|
21 |
+
<xacro:property name="f_idx_m_xyz" value="-0.034 0.022 0.106" />
|
22 |
+
<xacro:property name="f_pnk_m_xyz" value="-0.034 -0.022 0.106" />
|
23 |
+
<xacro:property name="f_thb_m_rpy" value="0 -0.2658 ${M_PI-0.226892}" />
|
24 |
+
<xacro:property name="f_idx_m_rpy" value="0 -0.2293 -0.191986" />
|
25 |
+
<xacro:property name="f_pnk_m_rpy" value="0 -0.2293 0.191986" />-->
|
26 |
+
|
27 |
+
<joint name="jaco_arm_joint" type="fixed">
|
28 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
29 |
+
<parent link="base_link"/>
|
30 |
+
<child link="jaco_6_hand_limb"/>
|
31 |
+
</joint>
|
32 |
+
|
33 |
+
<link name="jaco_6_hand_limb">
|
34 |
+
<inertial>
|
35 |
+
<origin rpy="0 0 0" xyz="-0.0555917045329114 -7.25586546752172E-05 -0.00317411883668722"/>
|
36 |
+
<mass value="0.2"/>
|
37 |
+
<inertia ixx="0.0007852635256" ixy="0" ixz="0" iyy="0.0007852635256" iyz="0" izz="0.00121"/>
|
38 |
+
</inertial>
|
39 |
+
<visual>
|
40 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
41 |
+
<geometry>
|
42 |
+
<mesh filename="./meshes/jaco2/6_hand_limb.STL" scale="1.0 1.0 1.0"/>
|
43 |
+
</geometry>
|
44 |
+
<material name="">
|
45 |
+
<color rgba="0.1 0.1 0.1 1"/>
|
46 |
+
</material>
|
47 |
+
</visual>
|
48 |
+
|
49 |
+
<collision>
|
50 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
51 |
+
<geometry>
|
52 |
+
<mesh filename="./meshes/jaco2/6_hand_limb.STL" scale="1.0 1.0 1.0"/>
|
53 |
+
</geometry>
|
54 |
+
</collision>
|
55 |
+
</link>
|
56 |
+
|
57 |
+
|
58 |
+
<link name="jaco_fingers_base_link">
|
59 |
+
<inertial>
|
60 |
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
61 |
+
<mass value="0.001"/>
|
62 |
+
<inertia ixx="3.33332e-08" ixy="0" ixz="0" iyy="3.33332e-08" iyz="0" izz="5e-08"/>
|
63 |
+
</inertial>
|
64 |
+
</link>
|
65 |
+
<!-- this joint is only to align the coordinate system with the kinova specification frame -->
|
66 |
+
<joint name="jaco_fingers_base_joint" type="fixed">
|
67 |
+
<origin rpy="-1.57079632679 3.14159265359 1.57079632679" xyz="0 0 0"/>
|
68 |
+
<parent link="jaco_6_hand_limb"/>
|
69 |
+
<child link="jaco_fingers_base_link"/>
|
70 |
+
</joint>
|
71 |
+
|
72 |
+
<!-- ........................... -->
|
73 |
+
<!-- FINGERS -->
|
74 |
+
<!-- ........................... -->
|
75 |
+
<link name="jaco_7_finger_mount_index">
|
76 |
+
<inertial>
|
77 |
+
<origin rpy="0 0 0" xyz="0 0.00706399246397285 -0.00176078508424846"/>
|
78 |
+
<mass value="0.006465"/>
|
79 |
+
<inertia ixx="7.8441686232e-07" ixy="0" ixz="0" iyy="7.8441686232e-07" iyz="0" izz="1.04733e-06"/>
|
80 |
+
</inertial>
|
81 |
+
<visual>
|
82 |
+
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
|
83 |
+
<geometry>
|
84 |
+
<mesh filename="./meshes/jaco2/7_finger_mount_index.STL"/>
|
85 |
+
</geometry>
|
86 |
+
<material name="">
|
87 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
88 |
+
</material>
|
89 |
+
</visual>
|
90 |
+
<collision>
|
91 |
+
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
|
92 |
+
<geometry>
|
93 |
+
<mesh filename="./meshes/jaco2/7_finger_mount_index.STL"/>
|
94 |
+
</geometry>
|
95 |
+
</collision>
|
96 |
+
</link>
|
97 |
+
<joint name="jaco_finger_mount_index_fixed" type="fixed">
|
98 |
+
<!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
|
99 |
+
<!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
|
100 |
+
to move at all, and then they mooved only slowly. -->
|
101 |
+
<!--dynamics damping="0.1" friction="1.0"/-->
|
102 |
+
<dynamics damping="0.005" friction="0.005"/>
|
103 |
+
<origin rpy="0 -0.2293 -0.191986" xyz="-0.034 0.022 0.095"/>
|
104 |
+
<parent link="jaco_fingers_base_link"/>
|
105 |
+
<child link="jaco_7_finger_mount_index"/>
|
106 |
+
<axis xyz="0 0 0"/>
|
107 |
+
</joint>
|
108 |
+
<!-- ........................... -->
|
109 |
+
<link name="jaco_8_finger_index">
|
110 |
+
<inertial>
|
111 |
+
<origin rpy="0 0 0" xyz="-0.0181403689626489 0 0.00272470933850985"/>
|
112 |
+
<mass value="0.01845"/>
|
113 |
+
<inertia ixx="6.37560262249e-06" ixy="0" ixz="0" iyy="6.37560262249e-06" iyz="0" izz="1.68125625e-06"/>
|
114 |
+
</inertial>
|
115 |
+
<!-- <visual>
|
116 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
117 |
+
<geometry>
|
118 |
+
<sphere radius="0.005"/>
|
119 |
+
</geometry>
|
120 |
+
<material name="">
|
121 |
+
<color rgba="0.10 0.10 0.10 1" />
|
122 |
+
</material>
|
123 |
+
</visual>
|
124 |
+
-->
|
125 |
+
<visual>
|
126 |
+
<origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
|
127 |
+
<geometry>
|
128 |
+
<mesh filename="./meshes/jaco2/8_finger_index.STL"/>
|
129 |
+
</geometry>
|
130 |
+
<material name="">
|
131 |
+
<color rgba="0.50 0.50 0.50 1"/>
|
132 |
+
</material>
|
133 |
+
</visual>
|
134 |
+
<collision>
|
135 |
+
<origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
|
136 |
+
<geometry>
|
137 |
+
<mesh filename="./meshes/jaco2/8_finger_index.STL"/>
|
138 |
+
</geometry>
|
139 |
+
</collision>
|
140 |
+
</link>
|
141 |
+
<joint name="jaco_finger_joint_0" type="revolute">
|
142 |
+
<!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
|
143 |
+
<!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
|
144 |
+
to move at all, and then they mooved only slowly. -->
|
145 |
+
<!--dynamics damping="0.1" friction="1.0"/-->
|
146 |
+
<dynamics damping="0.005" friction="0.005"/>
|
147 |
+
<origin rpy="0 -0.34 -0.191986" xyz="-0.0276 0.0204 0.11"/>
|
148 |
+
<parent link="jaco_fingers_base_link"/>
|
149 |
+
<child link="jaco_8_finger_index"/>
|
150 |
+
<axis xyz="0 1 0"/>
|
151 |
+
<limit effort="1.5" lower="-0.0045" upper="1.05" velocity="0.2"/>
|
152 |
+
</joint>
|
153 |
+
<!-- ........................... -->
|
154 |
+
<link name="jaco_9_finger_index_tip">
|
155 |
+
<inertial>
|
156 |
+
<origin rpy="0 0 0" xyz="-0.01340812509202 -4.52693266978291E-07 0.0118561361126153"/>
|
157 |
+
<mass value="0.0122"/>
|
158 |
+
<inertia ixx="2.6850059266e-06" ixy="0" ixz="0" iyy="2.6850059266e-06" iyz="0" izz="8.784e-07"/>
|
159 |
+
</inertial>
|
160 |
+
<!-- <visual>
|
161 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
162 |
+
<geometry>
|
163 |
+
<sphere radius="0.005"/>
|
164 |
+
</geometry>
|
165 |
+
<material name="">
|
166 |
+
<color rgba="0.10 0.10 0.10 1" />
|
167 |
+
</material>
|
168 |
+
</visual>
|
169 |
+
-->
|
170 |
+
<visual>
|
171 |
+
<origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
|
172 |
+
<geometry>
|
173 |
+
<mesh filename="./meshes/jaco2/9_finger_index_tip.STL" scale="1 1 1"/>
|
174 |
+
</geometry>
|
175 |
+
<material name="">
|
176 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
177 |
+
</material>
|
178 |
+
</visual>
|
179 |
+
<collision>
|
180 |
+
<origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
|
181 |
+
<geometry>
|
182 |
+
<mesh filename="./meshes/jaco2/9_finger_index_tip.STL" scale="1 1 1"/>
|
183 |
+
</geometry>
|
184 |
+
</collision>
|
185 |
+
</link>
|
186 |
+
<joint name="jaco_finger_joint_1" type="fixed">
|
187 |
+
<!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
|
188 |
+
<!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
|
189 |
+
to move at all, and then they mooved only slowly. -->
|
190 |
+
<!--dynamics damping="0.1" friction="1.0"/-->
|
191 |
+
<dynamics damping="0.005" friction="0.005"/>
|
192 |
+
<origin rpy="0 0 0" xyz="0 0 0.0441"/>
|
193 |
+
<parent link="jaco_8_finger_index"/>
|
194 |
+
<child link="jaco_9_finger_index_tip"/>
|
195 |
+
</joint>
|
196 |
+
<!-- ........................... -->
|
197 |
+
<link name="jaco_7_finger_mount_thumb">
|
198 |
+
<inertial>
|
199 |
+
<origin rpy="0 0 0" xyz="-2.65251193937339E-07 0.00706398229186052 -0.00176078674955921"/>
|
200 |
+
<mass value="0.006465"/>
|
201 |
+
<inertia ixx="7.8441686232e-07" ixy="0" ixz="0" iyy="7.8441686232e-07" iyz="0" izz="1.04733e-06"/>
|
202 |
+
</inertial>
|
203 |
+
<visual>
|
204 |
+
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
|
205 |
+
<geometry>
|
206 |
+
<mesh filename="./meshes/jaco2/7_finger_mount_thumb.STL"/>
|
207 |
+
</geometry>
|
208 |
+
<material name="">
|
209 |
+
<color rgba="0.50 0.50 0.50 1"/>
|
210 |
+
</material>
|
211 |
+
</visual>
|
212 |
+
<collision>
|
213 |
+
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
|
214 |
+
<geometry>
|
215 |
+
<mesh filename="./meshes/jaco2/7_finger_mount_thumb.STL"/>
|
216 |
+
</geometry>
|
217 |
+
</collision>
|
218 |
+
</link>
|
219 |
+
<joint name="jaco_finger_mount_thumb_fixed" type="fixed">
|
220 |
+
<!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
|
221 |
+
<!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
|
222 |
+
to move at all, and then they mooved only slowly. -->
|
223 |
+
<!--dynamics damping="0.1" friction="1.0"/-->
|
224 |
+
<dynamics damping="0.005" friction="0.005"/>
|
225 |
+
<origin rpy="0 -0.2658 2.91470065359" xyz=" 0.037 0.001 0.095"/>
|
226 |
+
<parent link="jaco_fingers_base_link"/>
|
227 |
+
<child link="jaco_7_finger_mount_thumb"/>
|
228 |
+
</joint>
|
229 |
+
<!-- ........................... -->
|
230 |
+
<link name="jaco_8_finger_thumb">
|
231 |
+
<inertial>
|
232 |
+
<origin rpy="0 0 0" xyz="-0.0181403317517619 -3.13818432741766E-07 0.00272473343106584"/>
|
233 |
+
<mass value="0.0184"/>
|
234 |
+
<inertia ixx="6.3583245666e-06" ixy="0" ixz="0" iyy="6.3583245666e-06" iyz="0" izz="1.6767e-06"/>
|
235 |
+
</inertial>
|
236 |
+
<!-- <visual>
|
237 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
238 |
+
<geometry>
|
239 |
+
<sphere radius="0.005"/>
|
240 |
+
</geometry>
|
241 |
+
<material name="">
|
242 |
+
<color rgba="0.10 0.10 0.10 1" />
|
243 |
+
</material>
|
244 |
+
</visual>
|
245 |
+
-->
|
246 |
+
<visual>
|
247 |
+
<origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
|
248 |
+
<geometry>
|
249 |
+
<mesh filename="./meshes/jaco2/8_finger_thumb.STL"/>
|
250 |
+
</geometry>
|
251 |
+
<material name="">
|
252 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
253 |
+
</material>
|
254 |
+
</visual>
|
255 |
+
<collision>
|
256 |
+
<origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
|
257 |
+
<geometry>
|
258 |
+
<mesh filename="./meshes/jaco2/8_finger_thumb.STL"/>
|
259 |
+
</geometry>
|
260 |
+
</collision>
|
261 |
+
</link>
|
262 |
+
<joint name="jaco_finger_joint_2" type="revolute">
|
263 |
+
<!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
|
264 |
+
<!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
|
265 |
+
to move at all, and then they mooved only slowly. -->
|
266 |
+
<!--dynamics damping="0.1" friction="1.0"/-->
|
267 |
+
<dynamics damping="0.005" friction="0.005"/>
|
268 |
+
<origin rpy="0 -0.37 2.91470065359" xyz=" 0.0319 0.003 0.11"/>
|
269 |
+
<parent link="jaco_fingers_base_link"/>
|
270 |
+
<child link="jaco_8_finger_thumb"/>
|
271 |
+
<axis xyz="0 1 0"/>
|
272 |
+
<limit effort="1.5" lower="-0.0045" upper="1.05" velocity="0.2"/>
|
273 |
+
</joint>
|
274 |
+
<!-- ........................... -->
|
275 |
+
<link name="jaco_9_finger_thumb_tip">
|
276 |
+
<inertial>
|
277 |
+
<origin rpy="0 0 0" xyz="-0.0134080639046228 -4.56622786070351E-07 0.0118561154422042"/>
|
278 |
+
<mass value="0.0122"/>
|
279 |
+
<inertia ixx="2.6850059266e-06" ixy="0" ixz="0" iyy="2.6850059266e-06" iyz="0" izz="8.784e-07"/>
|
280 |
+
</inertial>
|
281 |
+
<visual>
|
282 |
+
<origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
|
283 |
+
<geometry>
|
284 |
+
<mesh filename="./meshes/jaco2/9_finger_thumb_tip.STL" scale="1 1 1"/>
|
285 |
+
</geometry>
|
286 |
+
<material name="">
|
287 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
288 |
+
</material>
|
289 |
+
</visual>
|
290 |
+
<collision>
|
291 |
+
<origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
|
292 |
+
<geometry>
|
293 |
+
<mesh filename="./meshes/jaco2/9_finger_thumb_tip.STL" scale="1 1 1"/>
|
294 |
+
</geometry>
|
295 |
+
</collision>
|
296 |
+
</link>
|
297 |
+
<joint name="jaco_finger_joint_3" type="fixed">
|
298 |
+
<!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
|
299 |
+
<!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
|
300 |
+
to move at all, and then they mooved only slowly. -->
|
301 |
+
<!--dynamics damping="0.1" friction="1.0"/-->
|
302 |
+
<dynamics damping="0.005" friction="0.005"/>
|
303 |
+
<origin rpy="0 0 0" xyz="0 0 0.0441"/>
|
304 |
+
<parent link="jaco_8_finger_thumb"/>
|
305 |
+
<child link="jaco_9_finger_thumb_tip"/>
|
306 |
+
</joint>
|
307 |
+
<!-- ........................... -->
|
308 |
+
<link name="jaco_7_finger_mount_pinkie">
|
309 |
+
<inertial>
|
310 |
+
<origin rpy="0 0 0" xyz="0 0.00706399455294665 -0.00176077690193762"/>
|
311 |
+
<mass value="0.00646"/>
|
312 |
+
<inertia ixx="7.8381019808e-07" ixy="0" ixz="0" iyy="7.8381019808e-07" iyz="0" izz="1.04652e-06"/>
|
313 |
+
</inertial>
|
314 |
+
<visual>
|
315 |
+
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
|
316 |
+
<geometry>
|
317 |
+
<mesh filename="./meshes/jaco2/7_finger_mount_pinkie.STL"/>
|
318 |
+
</geometry>
|
319 |
+
<material name="">
|
320 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
321 |
+
</material>
|
322 |
+
</visual>
|
323 |
+
<collision>
|
324 |
+
<origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
|
325 |
+
<geometry>
|
326 |
+
<mesh filename="./meshes/jaco2/7_finger_mount_pinkie.STL"/>
|
327 |
+
</geometry>
|
328 |
+
</collision>
|
329 |
+
</link>
|
330 |
+
<joint name="jaco_finger_mount_pinkie_fixed" type="fixed">
|
331 |
+
<!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
|
332 |
+
<!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
|
333 |
+
to move at all, and then they mooved only slowly. -->
|
334 |
+
<!--dynamics damping="0.1" friction="1.0"/-->
|
335 |
+
<dynamics damping="0.005" friction="0.005"/>
|
336 |
+
<origin rpy="0 -0.2293 0.191986" xyz="-0.034 -0.022 0.095"/>
|
337 |
+
<parent link="jaco_fingers_base_link"/>
|
338 |
+
<child link="jaco_7_finger_mount_pinkie"/>
|
339 |
+
</joint>
|
340 |
+
<!-- ........................... -->
|
341 |
+
<link name="jaco_8_finger_pinkie">
|
342 |
+
<inertial>
|
343 |
+
<origin rpy="0 0 0" xyz="-0.0181404164708055 -2.87009015777565E-07 0.00272467774606585"/>
|
344 |
+
<mass value="0.01845"/>
|
345 |
+
<inertia ixx="6.37560262249e-06" ixy="0" ixz="0" iyy="6.37560262249e-06" iyz="0" izz="1.68125625e-06"/>
|
346 |
+
</inertial>
|
347 |
+
<!-- <visual>
|
348 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
349 |
+
<geometry>
|
350 |
+
<sphere radius="0.005"/>
|
351 |
+
</geometry>
|
352 |
+
<material name="">
|
353 |
+
<color rgba="0.10 0.10 0.10 1" />
|
354 |
+
</material>
|
355 |
+
</visual>
|
356 |
+
-->
|
357 |
+
<visual>
|
358 |
+
<origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
|
359 |
+
<geometry>
|
360 |
+
<mesh filename="./meshes/jaco2/8_finger_pinkie.STL"/>
|
361 |
+
</geometry>
|
362 |
+
<material name="">
|
363 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
364 |
+
</material>
|
365 |
+
</visual>
|
366 |
+
<collision>
|
367 |
+
<origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
|
368 |
+
<geometry>
|
369 |
+
<mesh filename="./meshes/jaco2/8_finger_pinkie.STL"/>
|
370 |
+
</geometry>
|
371 |
+
</collision>
|
372 |
+
</link>
|
373 |
+
<joint name="jaco_finger_joint_4" type="revolute">
|
374 |
+
<!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
|
375 |
+
<!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
|
376 |
+
to move at all, and then they mooved only slowly. -->
|
377 |
+
<!--dynamics damping="0.1" friction="1.0"/-->
|
378 |
+
<dynamics damping="0.005" friction="0.005"/>
|
379 |
+
<origin rpy="0 -0.34 0.191986" xyz="-0.0276 -0.0204 0.11"/>
|
380 |
+
<parent link="jaco_fingers_base_link"/>
|
381 |
+
<child link="jaco_8_finger_pinkie"/>
|
382 |
+
<axis xyz="0 1 0"/>
|
383 |
+
<limit effort="1.5" lower="-0.0045" upper="1.05" velocity="0.2"/>
|
384 |
+
</joint>
|
385 |
+
<!-- ........................... -->
|
386 |
+
<link name="jaco_9_finger_pinkie_tip">
|
387 |
+
<inertial>
|
388 |
+
<origin rpy="0 0 0" xyz="-0.0134 0 0.01185"/>
|
389 |
+
<mass value="0.0122"/>
|
390 |
+
<inertia ixx="2.6850059266e-06" ixy="0" ixz="0" iyy="2.6850059266e-06" iyz="0" izz="8.784e-07"/>
|
391 |
+
</inertial>
|
392 |
+
<visual>
|
393 |
+
<origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
|
394 |
+
<geometry>
|
395 |
+
<mesh filename="./meshes/jaco2/9_finger_pinkie_tip.STL" scale="1 1 1"/>
|
396 |
+
</geometry>
|
397 |
+
<material name="">
|
398 |
+
<color rgba="0.5 0.5 0.5 1"/>
|
399 |
+
</material>
|
400 |
+
</visual>
|
401 |
+
<collision>
|
402 |
+
<origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
|
403 |
+
<geometry>
|
404 |
+
<mesh filename="./meshes/jaco2/9_finger_pinkie_tip.STL" scale="1 1 1"/>
|
405 |
+
</geometry>
|
406 |
+
</collision>
|
407 |
+
</link>
|
408 |
+
<joint name="jaco_finger_joint_5" type="fixed">
|
409 |
+
<!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
|
410 |
+
<!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
|
411 |
+
to move at all, and then they mooved only slowly. -->
|
412 |
+
<!--dynamics damping="0.1" friction="1.0"/-->
|
413 |
+
<dynamics damping="0.005" friction="0.005"/>
|
414 |
+
<origin rpy="0 0 0" xyz="0 0 0.0441"/>
|
415 |
+
<parent link="jaco_8_finger_pinkie"/>
|
416 |
+
<child link="jaco_9_finger_pinkie_tip"/>
|
417 |
+
</joint>
|
418 |
+
</robot>
|
419 |
+
|
hand_model/jaco_hand_description/meshes/jaco/0_baseA.STL
ADDED
Binary file (27.9 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/0_baseB_limb.STL
ADDED
Binary file (104 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/1_shoulder_limb.STL
ADDED
Binary file (73.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/2_upperarm_limb.STL
ADDED
Binary file (116 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/3_forearm_limb.STL
ADDED
Binary file (78.8 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/4_upperwrist_limb.STL
ADDED
Binary file (109 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/5_lowerwrist_limb.STL
ADDED
Binary file (109 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/6_hand_limb.STL
ADDED
Binary file (353 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/7_index_finger.STL
ADDED
Binary file (55.8 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/7_pinkie_finger.STL
ADDED
Binary file (55.8 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/7_thumb_finger.STL
ADDED
Binary file (55.8 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/ring_1.STL
ADDED
Binary file (15.3 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/ring_2.STL
ADDED
Binary file (15.3 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/ring_3.STL
ADDED
Binary file (15.3 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/ring_4.STL
ADDED
Binary file (22.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/ring_5.STL
ADDED
Binary file (22.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco/ring_6.STL
ADDED
Binary file (22.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/0_baseA.STL
ADDED
Binary file (27.9 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/0_baseB_limb.STL
ADDED
Binary file (104 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/1_shoulder_limb.STL
ADDED
Binary file (73.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/2_upperarm_limb.STL
ADDED
Binary file (116 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/3_forearm_limb.STL
ADDED
Binary file (78.8 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/4_upperwrist_limb.STL
ADDED
Binary file (109 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/5_lowerwrist_limb.STL
ADDED
Binary file (109 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/6_hand_limb.STL
ADDED
Binary file (248 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/7_finger_mount_index.STL
ADDED
Binary file (78.7 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/7_finger_mount_pinkie.STL
ADDED
Binary file (78.7 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/7_finger_mount_thumb.STL
ADDED
Binary file (78.7 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/8_finger_index.STL
ADDED
Binary file (26.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/8_finger_pinkie.STL
ADDED
Binary file (26.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/8_finger_thumb.STL
ADDED
Binary file (26.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/9_finger_index_tip.STL
ADDED
Binary file (52.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/9_finger_pinkie_tip.STL
ADDED
Binary file (52.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/9_finger_thumb_tip.STL
ADDED
Binary file (52.5 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/ring_1.STL
ADDED
Binary file (15.3 kB). View file
|
|
hand_model/jaco_hand_description/meshes/jaco2/ring_2.STL
ADDED
Binary file (15.3 kB). View file
|
|
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CHANGED
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