lhslhslhs commited on
Commit
fb7fb96
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1 Parent(s): 746aa65
Files changed (44) hide show
  1. hand_model/jaco_hand_description/jaco_robot.urdf +419 -0
  2. hand_model/jaco_hand_description/meshes/jaco/0_baseA.STL +0 -0
  3. hand_model/jaco_hand_description/meshes/jaco/0_baseB_limb.STL +0 -0
  4. hand_model/jaco_hand_description/meshes/jaco/1_shoulder_limb.STL +0 -0
  5. hand_model/jaco_hand_description/meshes/jaco/2_upperarm_limb.STL +0 -0
  6. hand_model/jaco_hand_description/meshes/jaco/3_forearm_limb.STL +0 -0
  7. hand_model/jaco_hand_description/meshes/jaco/4_upperwrist_limb.STL +0 -0
  8. hand_model/jaco_hand_description/meshes/jaco/5_lowerwrist_limb.STL +0 -0
  9. hand_model/jaco_hand_description/meshes/jaco/6_hand_limb.STL +0 -0
  10. hand_model/jaco_hand_description/meshes/jaco/7_index_finger.STL +0 -0
  11. hand_model/jaco_hand_description/meshes/jaco/7_pinkie_finger.STL +0 -0
  12. hand_model/jaco_hand_description/meshes/jaco/7_thumb_finger.STL +0 -0
  13. hand_model/jaco_hand_description/meshes/jaco/ring_1.STL +0 -0
  14. hand_model/jaco_hand_description/meshes/jaco/ring_2.STL +0 -0
  15. hand_model/jaco_hand_description/meshes/jaco/ring_3.STL +0 -0
  16. hand_model/jaco_hand_description/meshes/jaco/ring_4.STL +0 -0
  17. hand_model/jaco_hand_description/meshes/jaco/ring_5.STL +0 -0
  18. hand_model/jaco_hand_description/meshes/jaco/ring_6.STL +0 -0
  19. hand_model/jaco_hand_description/meshes/jaco2/0_baseA.STL +0 -0
  20. hand_model/jaco_hand_description/meshes/jaco2/0_baseB_limb.STL +0 -0
  21. hand_model/jaco_hand_description/meshes/jaco2/1_shoulder_limb.STL +0 -0
  22. hand_model/jaco_hand_description/meshes/jaco2/2_upperarm_limb.STL +0 -0
  23. hand_model/jaco_hand_description/meshes/jaco2/3_forearm_limb.STL +0 -0
  24. hand_model/jaco_hand_description/meshes/jaco2/4_upperwrist_limb.STL +0 -0
  25. hand_model/jaco_hand_description/meshes/jaco2/5_lowerwrist_limb.STL +0 -0
  26. hand_model/jaco_hand_description/meshes/jaco2/6_hand_limb.STL +0 -0
  27. hand_model/jaco_hand_description/meshes/jaco2/7_finger_mount_index.STL +0 -0
  28. hand_model/jaco_hand_description/meshes/jaco2/7_finger_mount_pinkie.STL +0 -0
  29. hand_model/jaco_hand_description/meshes/jaco2/7_finger_mount_thumb.STL +0 -0
  30. hand_model/jaco_hand_description/meshes/jaco2/8_finger_index.STL +0 -0
  31. hand_model/jaco_hand_description/meshes/jaco2/8_finger_pinkie.STL +0 -0
  32. hand_model/jaco_hand_description/meshes/jaco2/8_finger_thumb.STL +0 -0
  33. hand_model/jaco_hand_description/meshes/jaco2/9_finger_index_tip.STL +0 -0
  34. hand_model/jaco_hand_description/meshes/jaco2/9_finger_pinkie_tip.STL +0 -0
  35. hand_model/jaco_hand_description/meshes/jaco2/9_finger_thumb_tip.STL +0 -0
  36. hand_model/jaco_hand_description/meshes/jaco2/ring_1.STL +0 -0
  37. hand_model/jaco_hand_description/meshes/jaco2/ring_2.STL +0 -0
  38. hand_model/jaco_hand_description/meshes/jaco2/ring_3.STL +0 -0
  39. hand_model/jaco_hand_description/meshes/jaco2/ring_4.STL +0 -0
  40. hand_model/jaco_hand_description/meshes/jaco2/ring_5.STL +0 -0
  41. hand_model/jaco_hand_description/meshes/jaco2/ring_6.STL +0 -0
  42. mid-level-data/barrett.pkl +2 -2
  43. mid-level-data/jaco.pkl +3 -0
  44. vis_mid_dataset.ipynb +0 -0
hand_model/jaco_hand_description/jaco_robot.urdf ADDED
@@ -0,0 +1,419 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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>
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+ <collision>
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+ <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="./meshes/jaco2/7_finger_mount_pinkie.STL"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="jaco_finger_mount_pinkie_fixed" type="fixed">
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+ <!--- 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"/-->
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+ <dynamics damping="0.005" friction="0.005"/>
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+ <origin rpy="0 -0.2293 0.191986" xyz="-0.034 -0.022 0.095"/>
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+ <parent link="jaco_fingers_base_link"/>
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+ <child link="jaco_7_finger_mount_pinkie"/>
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+ </joint>
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+ <!-- ........................... -->
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+ <link name="jaco_8_finger_pinkie">
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+ <inertial>
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+ <origin rpy="0 0 0" xyz="-0.0181404164708055 -2.87009015777565E-07 0.00272467774606585"/>
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+ <mass value="0.01845"/>
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+ <inertia ixx="6.37560262249e-06" ixy="0" ixz="0" iyy="6.37560262249e-06" iyz="0" izz="1.68125625e-06"/>
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+ </inertial>
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+ <!-- <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0" />
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+ <geometry>
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+ <sphere radius="0.005"/>
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.10 0.10 0.10 1" />
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+ </material>
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+ </visual>
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+ -->
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+ <visual>
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+ <origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="./meshes/jaco2/8_finger_pinkie.STL"/>
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.5 0.5 0.5 1"/>
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="./meshes/jaco2/8_finger_pinkie.STL"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="jaco_finger_joint_4" type="revolute">
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+ <!--- 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"/>
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+ <origin rpy="0 -0.34 0.191986" xyz="-0.0276 -0.0204 0.11"/>
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+ <parent link="jaco_fingers_base_link"/>
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+ <child link="jaco_8_finger_pinkie"/>
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+ <axis xyz="0 1 0"/>
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+ <limit effort="1.5" lower="-0.0045" upper="1.05" velocity="0.2"/>
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+ </joint>
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+ <!-- ........................... -->
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+ <link name="jaco_9_finger_pinkie_tip">
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+ <inertial>
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+ <origin rpy="0 0 0" xyz="-0.0134 0 0.01185"/>
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+ <mass value="0.0122"/>
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+ <inertia ixx="2.6850059266e-06" ixy="0" ixz="0" iyy="2.6850059266e-06" iyz="0" izz="8.784e-07"/>
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+ </inertial>
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+ <visual>
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+ <origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="./meshes/jaco2/9_finger_pinkie_tip.STL" scale="1 1 1"/>
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.5 0.5 0.5 1"/>
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="./meshes/jaco2/9_finger_pinkie_tip.STL" scale="1 1 1"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="jaco_finger_joint_5" type="fixed">
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+ <!--- 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"/-->
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+ <dynamics damping="0.005" friction="0.005"/>
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+ <origin rpy="0 0 0" xyz="0 0 0.0441"/>
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+ <parent link="jaco_8_finger_pinkie"/>
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+ <child link="jaco_9_finger_pinkie_tip"/>
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+ </joint>
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+ </robot>
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