unitree_ros/robots/g1_description/inspire_hand/DFQ_left_hand.urdf

<robot name="Lhand">

  <mujoco>
    <compiler meshdir="meshes" discardvisual="false"/>
  </mujoco>

  <!-- <link name="world"></link>
  <joint name="floating_base_joint" type="floating">
    <parent link="world"/>
    <child link="left_wrist_yaw_link"/>
  </joint> -->

  <link name="left_wrist_yaw_link"></link>

  <joint name="L_base_link_joint" type="fixed">
    <origin xyz="0.0415 0 0" rpy="0 0 1.5707963267948966192313216916398"/>
    <parent link="left_wrist_yaw_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="meshes/L_hand_base_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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="meshes/Link11_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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="meshes/Link12_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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="meshes/Link13_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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"/>
    <mimic joint="L_thumb_proximal_pitch_joint" multiplier="1.6" offset="0"/>
  </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="meshes/Link14_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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"/>
    <mimic joint="L_thumb_proximal_pitch_joint" multiplier="2.4" offset="0"/>
  </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="meshes/Link15_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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="meshes/Link16_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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"/>
    <mimic joint="L_index_proximal_joint" multiplier="1" offset="0"/>
  </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="meshes/Link17_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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="meshes/Link18_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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"/>
    <mimic joint="L_middle_proximal_joint" multiplier="1" offset="0"/>
  </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="meshes/Link19_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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="meshes/Link20_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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"/>
    <mimic joint="L_ring_proximal_joint" multiplier="1" offset="0"/>
  </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="meshes/Link21_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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="meshes/Link22_L.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="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"/>
    <mimic joint="L_pinky_proximal_joint" multiplier="1" offset="0"/>
  </joint>

</robot>