add inspire hand for g1
This commit is contained in:
matheecs
parent
3a92d0dbe3
commit
751aa01419
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@ -37,7 +37,7 @@
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<axis xyz="0 1 0"/>
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<parent link="left_hand_palm_link"/>
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<child link="left_hand_thumb_0_link"/>
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<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
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<limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755"/>
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</joint>
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<link name="left_hand_thumb_0_link">
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<inertial>
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@ -37,7 +37,7 @@
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<axis xyz="0 1 0"/>
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<parent link="right_hand_palm_link"/>
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<child link="right_hand_thumb_0_link"/>
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<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
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<limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755"/>
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</joint>
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<link name="right_hand_thumb_0_link">
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<inertial>
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@ -842,7 +842,7 @@
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<axis xyz="0 1 0"/>
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<parent link="left_hand_palm_link"/>
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<child link="left_hand_thumb_0_link"/>
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<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
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<limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755"/>
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</joint>
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<link name="left_hand_thumb_0_link">
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<inertial>
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@ -1275,7 +1275,7 @@
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<axis xyz="0 1 0"/>
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<parent link="right_hand_palm_link"/>
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<child link="right_hand_thumb_0_link"/>
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<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
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<limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755"/>
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</joint>
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<link name="right_hand_thumb_0_link">
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<inertial>
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
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@ -870,7 +870,7 @@
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<axis xyz="0 1 0"/>
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<parent link="left_hand_palm_link"/>
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<child link="left_hand_thumb_0_link"/>
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<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
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<limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755"/>
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</joint>
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<link name="left_hand_thumb_0_link">
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<inertial>
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@ -1303,7 +1303,7 @@
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<axis xyz="0 1 0"/>
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<parent link="right_hand_palm_link"/>
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<child link="right_hand_thumb_0_link"/>
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<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
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<limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755"/>
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</joint>
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<link name="right_hand_thumb_0_link">
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<inertial>
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@ -842,7 +842,7 @@
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<axis xyz="0 1 0"/>
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<parent link="left_hand_palm_link"/>
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<child link="left_hand_thumb_0_link"/>
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<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
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<limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755"/>
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</joint>
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<link name="left_hand_thumb_0_link">
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<inertial>
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@ -1275,7 +1275,7 @@
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<axis xyz="0 1 0"/>
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<parent link="right_hand_palm_link"/>
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<child link="right_hand_thumb_0_link"/>
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<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
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<limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755"/>
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</joint>
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<link name="right_hand_thumb_0_link">
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<inertial>
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@ -0,0 +1,422 @@
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<robot name="Lhand">
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<mujoco>
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<compiler meshdir="meshes" discardvisual="false"/>
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</mujoco>
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<!-- <link name="world"></link>
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<joint name="floating_base_joint" type="floating">
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<parent link="world"/>
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<child link="left_wrist_yaw_link"/>
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</joint> -->
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<link name="left_wrist_yaw_link"></link>
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<joint name="L_base_link_joint" type="fixed">
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<origin xyz="0.0415 0 0" rpy="0 0 1.5707963267948966192313216916398"/>
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<parent link="left_wrist_yaw_link"/>
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<child link="L_hand_base_link"/>
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</joint>
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<link name="L_hand_base_link">
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<inertial>
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<origin xyz="-0.002551 -0.066047 -0.0019357" rpy="0 0 0"/>
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<mass value="0.14143"/>
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<inertia ixx="0.0001234" ixy="2.1995E-06" ixz="-1.7694E-06" iyy="8.3835E-05" iyz="1.5968E-06" izz="7.7231E-05"/>
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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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<mesh filename="meshes/L_hand_base_link.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/L_hand_base_link.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="L_thumb_proximal_base">
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<inertial>
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<origin xyz="0.0048817 0.00038782 -0.00722" rpy="0 0 0"/>
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<mass value="0.0018869"/>
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<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"/>
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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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<mesh filename="meshes/Link11_L.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/Link11_L.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="L_thumb_proximal_yaw_joint" type="revolute">
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<origin xyz="-0.01696 -0.0691 0.02045" rpy="1.5708 -1.5708 0"/>
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<parent link="L_hand_base_link"/>
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<child link="L_thumb_proximal_base"/>
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<axis xyz="0 0 1"/>
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<limit lower="-0.1" upper="1.3" effort="1" velocity="0.5"/>
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</joint>
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<link name="L_thumb_proximal">
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<inertial>
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<origin xyz="0.021936 -0.01279 -0.0080386" rpy="0 0 0"/>
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<mass value="0.0066101"/>
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<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"/>
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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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<mesh filename="meshes/Link12_L.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/Link12_L.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="L_thumb_proximal_pitch_joint" type="revolute">
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<origin xyz="0.0099867 0.0098242 -0.0089" rpy="-1.5708 0 0.16939"/>
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<parent link="L_thumb_proximal_base"/>
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<child link="L_thumb_proximal"/>
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<axis xyz="0 0 -1"/>
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<limit lower="-0.1" upper="0.6" effort="1" velocity="0.5"/>
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</joint>
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<link name="L_thumb_intermediate">
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<inertial>
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<origin xyz="0.0095531 0.0016282 -0.0072002" rpy="0 0 0"/>
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<mass value="0.0037844"/>
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<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"/>
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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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<mesh filename="meshes/Link13_L.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/Link13_L.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="L_thumb_intermediate_joint" type="revolute">
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<origin xyz="0.04407 -0.034553 -0.0008" rpy="0 0 0"/>
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<parent link="L_thumb_proximal"/>
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<child link="L_thumb_intermediate"/>
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<axis xyz="0 0 -1"/>
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<limit lower="0" upper="0.8" effort="1" velocity="0.5"/>
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<mimic joint="L_thumb_proximal_pitch_joint" multiplier="1.6" offset="0"/>
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</joint>
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<link name="L_thumb_distal">
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<inertial>
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<origin xyz="0.0092888 -0.004953 -0.0060033" rpy="0 0 0"/>
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<mass value="0.003344"/>
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<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"/>
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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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<mesh filename="meshes/Link14_L.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/Link14_L.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="L_thumb_distal_joint" type="revolute">
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<origin xyz="0.020248 -0.010156 -0.0012" rpy="0 0 0"/>
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<parent link="L_thumb_intermediate"/>
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<child link="L_thumb_distal"/>
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<axis xyz="0 0 -1"/>
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<limit lower="0" upper="1.2" effort="1" velocity="0.5"/>
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<mimic joint="L_thumb_proximal_pitch_joint" multiplier="2.4" offset="0"/>
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</joint>
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<link name="L_index_proximal">
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<inertial>
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<origin xyz="0.0012971 -0.011934 -0.0059998" rpy="0 0 0"/>
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<mass value="0.0042405"/>
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<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"/>
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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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<mesh filename="meshes/Link15_L.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/Link15_L.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="L_index_proximal_joint" type="revolute">
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<origin xyz="0.00028533 -0.13653 0.032268" rpy="-0.034907 0 0"/>
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<parent link="L_hand_base_link"/>
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<child link="L_index_proximal"/>
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<axis xyz="0 0 -1"/>
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<limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
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</joint>
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<link name="L_index_intermediate">
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<inertial>
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<origin xyz="0.0021753 -0.019567 -0.005" rpy="0 0 0"/>
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<mass value="0.0045682"/>
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<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"/>
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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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<mesh filename="meshes/Link16_L.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/Link16_L.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="L_index_intermediate_joint" type="revolute">
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<origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0"/>
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<parent link="L_index_proximal"/>
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<child link="L_index_intermediate"/>
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<axis xyz="0 0 -1"/>
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<limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
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<mimic joint="L_index_proximal_joint" multiplier="1" offset="0"/>
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</joint>
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<link name="L_middle_proximal">
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<inertial>
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<origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0"/>
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<mass value="0.0042405"/>
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<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"/>
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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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<mesh filename="meshes/Link17_L.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/Link17_L.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="L_middle_proximal_joint" type="revolute">
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<origin xyz="0.00028533 -0.1371 0.01295" rpy="0 0 0"/>
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<parent link="L_hand_base_link"/>
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<child link="L_middle_proximal"/>
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<axis xyz="0 0 -1"/>
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<limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
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</joint>
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<link name="L_middle_intermediate">
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<inertial>
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<origin xyz="0.001921 -0.020796 -0.0049999" rpy="0 0 0"/>
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<mass value="0.0050397"/>
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<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"/>
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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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<mesh filename="meshes/Link18_L.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/Link18_L.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="L_middle_intermediate_joint" type="revolute">
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<origin xyz="-0.0024229 -0.032041 -0.001" rpy="0 0 0"/>
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<parent link="L_middle_proximal"/>
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<child link="L_middle_intermediate"/>
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<axis xyz="0 0 -1"/>
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<limit lower="0" upper="1.7" effort="1" velocity="0.5"/>
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<mimic joint="L_middle_proximal_joint" multiplier="1" offset="0"/>
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</joint>
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<link name="L_ring_proximal">
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<inertial>
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<origin xyz="0.0012971 -0.011934 -0.0059999" rpy="0 0 0"/>
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<mass value="0.0042405"/>
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<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"/>
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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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<mesh filename="meshes/Link19_L.STL"/>
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</geometry>
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<material name="dark">
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<color rgba="1 1 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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<mesh filename="meshes/Link19_L.STL"/>
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</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>
|
||||
|
|
@ -0,0 +1,422 @@
|
|||
<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="right_wrist_yaw_link"/>
|
||||
</joint> -->
|
||||
|
||||
<link name="right_wrist_yaw_link"></link>
|
||||
|
||||
<joint name="R_base_link_joint" type="fixed">
|
||||
<origin xyz="0.0415 0 0" rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398"/>
|
||||
<parent link="right_wrist_yaw_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="meshes/R_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/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="meshes/Link11_R.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_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="meshes/Link12_R.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_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="meshes/Link13_R.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_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"/>
|
||||
<mimic joint="R_thumb_proximal_pitch_joint" multiplier="1.6" offset="0"/>
|
||||
</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="meshes/Link14_R.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_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"/>
|
||||
<mimic joint="R_thumb_proximal_pitch_joint" multiplier="2.4" offset="0"/>
|
||||
</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="meshes/Link15_R.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_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="meshes/Link16_R.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_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"/>
|
||||
<mimic joint="R_index_proximal_joint" multiplier="1" offset="0"/>
|
||||
</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="meshes/Link17_R.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_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="meshes/Link18_R.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_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"/>
|
||||
<mimic joint="R_middle_proximal_joint" multiplier="1" offset="0"/>
|
||||
</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="meshes/Link19_R.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_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="meshes/Link20_R.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_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"/>
|
||||
<mimic joint="R_ring_proximal_joint" multiplier="1" offset="0"/>
|
||||
</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="meshes/Link21_R.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_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="meshes/Link22_R.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_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"/>
|
||||
<mimic joint="R_pinky_proximal_joint" multiplier="1" offset="0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,391 @@
|
|||
<robot name="Lhand">
|
||||
|
||||
<mujoco>
|
||||
<compiler meshdir="meshes" discardvisual="false"/>
|
||||
</mujoco>
|
||||
|
||||
<link name="left_wrist_yaw_link"></link>
|
||||
|
||||
<joint name="left_base_joint" type="fixed">
|
||||
<origin xyz="0.15245593 -0.11181005 -0.00832675" rpy="0 1.5707963267948966192313216916398 0"/>
|
||||
<parent link="left_wrist_yaw_link"/>
|
||||
<child link="left_base_link"/>
|
||||
</joint>
|
||||
<link name="left_base_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.00826856171690858 0.115495645683634 -0.0283405186091888" rpy="0 0 0"/>
|
||||
<mass value="0.260034351027079"/>
|
||||
<inertia ixx="0.000223659755568991" ixy="1.13436481431654E-06" ixz="5.34309330483412E-07" iyy="0.000266799681382808" iyz="-1.40944118439409E-05" izz="0.00013285776917007"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_base_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_thumb_swing">
|
||||
<inertial>
|
||||
<origin xyz="-0.001897403655087 -7.12516796909923E-05 0.00313589310434412" rpy="0 0 0"/>
|
||||
<mass value="0.00115518743162309"/>
|
||||
<inertia ixx="6.27834293959477E-08" ixy="9.38445541803444E-10" ixz="-3.50236810587605E-09" iyy="3.78279141131513E-08" iyz="-1.31528360070952E-10" izz="6.1816168438865E-08"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_thumb_swing.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_thumb_swing.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_thumb_swing_joint" type="revolute">
|
||||
<origin xyz="-0.035227 0.0908 -0.040206" rpy="0 0 0"/>
|
||||
<parent link="left_base_link"/>
|
||||
<child link="left_thumb_swing"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="1.70" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="left_thumb_1">
|
||||
<inertial>
|
||||
<origin xyz="-0.0163208309809786 0.00996672794459635 -0.00940273641037634" rpy="0 0 0"/>
|
||||
<mass value="0.00651881950738526"/>
|
||||
<inertia ixx="1.05252775356938E-06" ixy="8.8013589531825E-08" ixz="4.12297543062756E-10" iyy="1.12456993863274E-06" iyz="-3.58528262599009E-10" izz="1.43633392322177E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_thumb_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_thumb_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_thumb_1_joint" type="revolute">
|
||||
<origin xyz="-0.0096402 -0.0097687 0.00125" rpy="1.5708 0 0.037536"/>
|
||||
<parent link="left_thumb_swing"/>
|
||||
<child link="left_thumb_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="-0.95" upper="0" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="left_thumb_2">
|
||||
<inertial>
|
||||
<origin xyz="-0.0100669921030146 0.0027226860312175 -0.00854141424002414" rpy="0 0 0"/>
|
||||
<mass value="0.00406061124452418"/>
|
||||
<inertia ixx="4.61650984659959E-07" ixy="6.02617854200335E-08" ixz="4.49999330286846E-11" iyy="4.2100553287784E-07" iyz="-2.1886405983307E-10" izz="4.38695633575155E-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_thumb_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="left_thumb_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_thumb_2_joint" type="revolute">
|
||||
<origin xyz="-0.0385855343215257 0.0137354280979689 -0.00085000000007604" rpy="0 0 0"/>
|
||||
<parent link="left_thumb_1"/>
|
||||
<child link="left_thumb_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="3.14" effort="1" velocity="100"/>
|
||||
<mimic joint="left_thumb_1_joint" multiplier="0.40" offset="0"/>
|
||||
</joint>
|
||||
<link name="left_thumb_3">
|
||||
<inertial>
|
||||
<origin xyz="-0.0166252667929019 0.00439732092491903 -0.00874331047569411" rpy="0 0 0"/>
|
||||
<mass value="0.00913053073869734"/>
|
||||
<inertia ixx="5.85505830748828E-07" ixy="2.36405978862981E-07" ixz="-9.42185151685949E-10" iyy="8.21798877779441E-07" iyz="6.15791569450789E-10" izz="9.25701229462772E-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_thumb_3.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_thumb_3.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_thumb_3_joint" type="revolute">
|
||||
<origin xyz="-0.0204656980659991 0.00837680232935447 0.000199999999999881" rpy="0 0 0"/>
|
||||
<parent link="left_thumb_2"/>
|
||||
<child link="left_thumb_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="3.14" effort="1" velocity="100"/>
|
||||
<mimic joint="left_thumb_1_joint" multiplier="0.60" offset="0"/>
|
||||
</joint>
|
||||
<link name="left_index_1">
|
||||
<inertial>
|
||||
<origin xyz="0.00219916454162671 0.0122949545354551 -0.00779931609805271" rpy="0 0 0"/>
|
||||
<mass value="0.00719950629120704"/>
|
||||
<inertia ixx="1.28051762409609E-06" ixy="-6.28742259934098E-08" ixz="8.85831478756991E-13" iyy="5.82545787352841E-07" iyz="8.55749735433038E-11" izz="1.32913319060816E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_index_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_index_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_index_1_joint" type="revolute">
|
||||
<origin xyz="-0.048156 0.11125 0.045404" rpy="1.6057 0 -1.5708"/>
|
||||
<parent link="left_base_link"/>
|
||||
<child link="left_index_1"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="left_index_2">
|
||||
<inertial>
|
||||
<origin xyz="-0.000690175178177488 0.0256943199737118 -0.0074925254099278" rpy="0 0 0"/>
|
||||
<mass value="0.00968687528768598"/>
|
||||
<inertia ixx="2.26451337650877E-06" ixy="-3.90524448356852E-07" ixz="3.56545732231415E-10" iyy="3.82394128669363E-07" iyz="2.76896757225301E-09" izz="2.302471439937E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_index_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_index_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_index_2_joint" type="revolute">
|
||||
<origin xyz="0.00259487212105013 0.0326721877470773 -0.000299999999999988" rpy="0 0 0"/>
|
||||
<parent link="left_index_1"/>
|
||||
<child link="left_index_2"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
<mimic joint="left_index_1_joint" multiplier="1.05" offset="0"/>
|
||||
</joint>
|
||||
<link name="left_middle_1">
|
||||
<inertial>
|
||||
<origin xyz="0.00229271394242234 0.0122778605414752 -0.00779931823074317" rpy="0 0 0"/>
|
||||
<mass value="0.00719950322487975"/>
|
||||
<inertia ixx="1.27951858905778E-06" ixy="-6.81813021711601E-08" ixz="1.5855112157922E-12" iyy="5.83543537428456E-07" iyz="8.56179612609339E-11" izz="1.32913234511164E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_middle_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_middle_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_middle_1_joint" type="revolute">
|
||||
<origin xyz="-0.026577 0.11125 0.046044" rpy="1.5708 0 -1.5708"/>
|
||||
<parent link="left_base_link"/>
|
||||
<child link="left_middle_1"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="left_middle_2">
|
||||
<inertial>
|
||||
<origin xyz="-7.51983994427274E-05 0.027448753770842 -0.00750059894166984" rpy="0 0 0"/>
|
||||
<mass value="0.0104611931926301"/>
|
||||
<inertia ixx="2.75831931773332E-06" ixy="-4.66412841401028E-07" ixz="7.3576656177484E-12" iyy="4.22466538741155E-07" iyz="1.79608426686722E-11" izz="2.80722617348706E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_middle_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_middle_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_middle_2_joint" type="revolute">
|
||||
<origin xyz="0.0028436 0.032651 -0.0003" rpy="0 0 0"/>
|
||||
<parent link="left_middle_1"/>
|
||||
<child link="left_middle_2"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
<mimic joint="left_middle_1_joint" multiplier="1.05" offset="0"/>
|
||||
</joint>
|
||||
<link name="left_ring_1">
|
||||
<inertial>
|
||||
<origin xyz="0.00240530428455067 0.0122563079467745 -0.00779931923444504" rpy="0 0 0"/>
|
||||
<mass value="0.00719949770218713"/>
|
||||
<inertia ixx="1.27820682409824E-06" ixy="-7.45572429780095E-08" ixz="2.25718181777012E-12" iyy="5.84853511073516E-07" iyz="8.5622233041164E-11" izz="1.32913088941838E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ring_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ring_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_ring_1_joint" type="revolute">
|
||||
<origin xyz="-0.004945 0.11125 0.045939" rpy="1.5184 0 -1.5708"/>
|
||||
<parent link="left_base_link"/>
|
||||
<child link="left_ring_1"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="left_ring_2">
|
||||
<inertial>
|
||||
<origin xyz="-0.000667145407605998 0.0256949163202511 -0.00749252997688842" rpy="0 0 0"/>
|
||||
<mass value="0.00968685177133057"/>
|
||||
<inertia ixx="2.26381138740299E-06" ixy="-3.92210300202205E-07" ixz="3.58404653503586E-10" iyy="3.83095000534084E-07" iyz="2.77027363965472E-09" izz="2.30247104599333E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ring_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_ring_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_ring_2_joint" type="revolute">
|
||||
<origin xyz="0.0031431 0.032624 -0.0003" rpy="0 0 0"/>
|
||||
<parent link="left_ring_1"/>
|
||||
<child link="left_ring_2"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
<mimic joint="left_ring_1_joint" multiplier="1.05" offset="0"/>
|
||||
</joint>
|
||||
<link name="left_little_1">
|
||||
<inertial>
|
||||
<origin xyz="0.0020908902145567 0.0123138388094518 -0.00779930416612102" rpy="0 0 0"/>
|
||||
<mass value="0.00719949424831882"/>
|
||||
<inertia ixx="1.28158473132988E-06" ixy="-5.67213995105241E-08" ixz="3.81932384005559E-13" iyy="5.81492545898195E-07" iyz="8.62730752553906E-11" izz="1.32914698853052E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_little_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_little_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_little_1_joint" type="revolute">
|
||||
<origin xyz="0.016446 0.11125 0.042817" rpy="1.4661 0 -1.5708"/>
|
||||
<parent link="left_base_link"/>
|
||||
<child link="left_little_1"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="left_little_2">
|
||||
<inertial>
|
||||
<origin xyz="-0.0017604035921492 0.0209002097557272 -0.00750031127302827" rpy="0 0 0"/>
|
||||
<mass value="0.00759259232694104"/>
|
||||
<inertia ixx="1.2354235368985E-06" ixy="-2.15945048600066E-07" ixz="3.12205526892557E-12" iyy="2.72718801980276E-07" iyz="1.27574096139233E-11" izz="1.23906813966421E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_little_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_little_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_little_2_joint" type="revolute">
|
||||
<origin xyz="0.0023072 0.032694 -0.0003" rpy="0 0 0"/>
|
||||
<parent link="left_little_1"/>
|
||||
<child link="left_little_2"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
<mimic joint="left_little_1_joint" multiplier="1.05" offset="0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,391 @@
|
|||
<robot name="Rhand">
|
||||
|
||||
<mujoco>
|
||||
<compiler meshdir="meshes" discardvisual="false"/>
|
||||
</mujoco>
|
||||
|
||||
<link name="right_wrist_yaw_link"></link>
|
||||
|
||||
<joint name="right_base_joint" type="fixed">
|
||||
<origin xyz="0.15245593 0.11181005 -0.00832675" rpy="0 1.5707963267948966192313216916398 0"/>
|
||||
<parent link="right_wrist_yaw_link"/>
|
||||
<child link="right_base_link"/>
|
||||
</joint>
|
||||
<link name="right_base_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.00827757758571113 -0.0384721010257447 0.114789391580906" rpy="0 0 0"/>
|
||||
<mass value="0.314090908651444"/>
|
||||
<inertia ixx="0.000240584294377349" ixy="5.34716372850393E-07" ixz="1.12900344118066E-06" iyy="0.000155854672232219" iyz="-1.41174523865224E-05" izz="0.000284423438512345"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_base_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_thumb_1">
|
||||
<inertial>
|
||||
<origin xyz="-0.00178423179132727 0.000649410769092446 0.0048858931043441" rpy="0 0 0"/>
|
||||
<mass value="0.00115518743162309"/>
|
||||
<inertia ixx="5.98911473694572E-08" ixy="-8.04324266712912E-09" ixz="-3.29346964287941E-09" iyy="4.07201940087006E-08" iyz="1.1987242259973E-09" izz="6.18161684388651E-08"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_thumb_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_thumb_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_thumb_1_joint" type="revolute">
|
||||
<origin xyz="-0.035227 -0.0908 -0.041956" rpy="0 0 0"/>
|
||||
<parent link="right_base_link"/>
|
||||
<child link="right_thumb_1"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit lower="0" upper="1.7" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="right_thumb_2">
|
||||
<inertial>
|
||||
<origin xyz="0.0161097484383394 0.0103028022975375 -0.00905330600289518" rpy="0 0 0"/>
|
||||
<mass value="0.030"/>
|
||||
<inertia ixx="1.05608173707368E-06" ixy="-8.93990422826739E-08" ixz="-4.0717047155279E-10" iyy="1.12055666436187E-06" iyz="-3.12541187909307E-10" izz="1.43604602983943E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_thumb_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_thumb_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_thumb_2_joint" type="revolute">
|
||||
<origin xyz="-0.0063016 0.011924 0.003" rpy="1.5708 0 2.7925"/>
|
||||
<parent link="right_thumb_1"/>
|
||||
<child link="right_thumb_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0.035" upper="0.90" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="right_thumb_3">
|
||||
<inertial>
|
||||
<origin xyz="0.00924505131715823 0.00481918438391222 -0.00753905171750578" rpy="0 0 0"/>
|
||||
<mass value="0.020"/>
|
||||
<inertia ixx="4.84948263631248E-07" ixy="-4.6215685121335E-08" ixz="-5.73077020148322E-11" iyy="3.97628031594582E-07" iyz="-2.99889919786187E-10" izz="4.38765869483229E-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_thumb_3.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_thumb_3.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_thumb_3_joint" type="revolute">
|
||||
<origin xyz="0.038292 0.014535 -0.0015" rpy="0 0 0"/>
|
||||
<parent link="right_thumb_2"/>
|
||||
<child link="right_thumb_3"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="3.14" effort="1" velocity="100"/>
|
||||
<mimic joint="right_thumb_2_joint" multiplier="0.40" offset="0"/>
|
||||
</joint>
|
||||
<link name="right_thumb_4">
|
||||
<inertial>
|
||||
<origin xyz="0.0136013574986204 0.0105235463357921 -0.00734356571247173" rpy="0 0 0"/>
|
||||
<mass value="0.014"/>
|
||||
<inertia ixx="7.90885781861325E-07" ixy="-2.49464441546171E-07" ixz="6.42303183060523E-10" iyy="6.16404813927616E-07" iyz="9.69366750167204E-10" izz="9.25691764995085E-07"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_thumb_4.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_thumb_4.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_thumb_4_joint" type="revolute">
|
||||
<origin xyz="0.018189 0.012576 -0.0002" rpy="0 0 0"/>
|
||||
<parent link="right_thumb_3"/>
|
||||
<child link="right_thumb_4"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="3.14" effort="1" velocity="100"/>
|
||||
<mimic joint="right_thumb_2_joint" multiplier="0.60" offset="0"/>
|
||||
</joint>
|
||||
<link name="right_index_1">
|
||||
<inertial>
|
||||
<origin xyz="-0.00183546255523358 0.0123552521861834 -0.00664922294778368" rpy="0 0 0"/>
|
||||
<mass value="0.00719999389753263"/>
|
||||
<inertia ixx="1.28371991025319E-06" ixy="4.21564829206075E-08" ixz="-4.10859703076842E-12" iyy="5.79478432222903E-07" iyz="6.39690407241903E-11" izz="1.32925246769088E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_index_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_index_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_index_1_joint" type="revolute">
|
||||
<origin xyz="-0.047006 -0.11125 0.045444" rpy="1.6057 0 -1.5708"/>
|
||||
<parent link="right_base_link"/>
|
||||
<child link="right_index_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="right_index_2">
|
||||
<inertial>
|
||||
<origin xyz="0.000405081354201142 0.0257028143581744 -0.00609275623125877" rpy="0 0 0"/>
|
||||
<mass value="0.0096859422185797"/>
|
||||
<inertia ixx="2.25513837942244E-06" ixy="4.11239564383381E-07" ixz="-3.94499739658712E-10" iyy="3.91290903748666E-07" iyz="2.79706871963247E-09" izz="2.30200483771215E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_index_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_index_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_index_2_joint" type="revolute">
|
||||
<origin xyz="-0.0016312 0.032734 -0.00055" rpy="0 0 0"/>
|
||||
<parent link="right_index_1"/>
|
||||
<child link="right_index_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
<mimic joint="right_index_1_joint" multiplier="1.05" offset="0"/>
|
||||
</joint>
|
||||
<link name="right_middle_1">
|
||||
<inertial>
|
||||
<origin xyz="-0.00229221489529488 0.0122787164691098 -0.00664923691414206" rpy="0 0 0"/>
|
||||
<mass value="0.0071999945469965"/>
|
||||
<inertia ixx="1.27961146095209E-06" ixy="6.81307502326405E-08" ixz="-6.13869092494893E-12" iyy="5.83570383259162E-07" iyz="6.33401074036368E-11" izz="1.32923656099557E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_middle_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_middle_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_middle_1_joint" type="revolute">
|
||||
<origin xyz="-0.025427 -0.11125 0.046044" rpy="1.5708 0 -1.5708"/>
|
||||
<parent link="right_base_link"/>
|
||||
<child link="right_middle_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="right_middle_2">
|
||||
<inertial>
|
||||
<origin xyz="7.55635118059039E-05 0.0274472409648012 -0.00610051224365681" rpy="0 0 0"/>
|
||||
<mass value="0.0104603374244707"/>
|
||||
<inertia ixx="2.75802690508112E-06" ixy="4.66354191476345E-07" ixz="-3.7332807411606E-12" iyy="4.22418749309736E-07" iyz="7.48556574992485E-11" izz="2.8069463787114E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_middle_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_middle_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_middle_2_joint" type="revolute">
|
||||
<origin xyz="-0.0028436 0.032651 -0.00055" rpy="0 0 0"/>
|
||||
<parent link="right_middle_1"/>
|
||||
<child link="right_middle_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
<mimic joint="right_middle_1_joint" multiplier="1.05" offset="0"/>
|
||||
</joint>
|
||||
<link name="right_ring_1">
|
||||
<inertial>
|
||||
<origin xyz="-0.00240481178777663 0.0122571709475593 -0.00664923625225445" rpy="0 0 0"/>
|
||||
<mass value="0.00719998997814134"/>
|
||||
<inertia ixx="1.27830103769765E-06" ixy="7.45073064952644E-08" ixz="-6.73880804378546E-12" iyy="5.84879553082369E-07" iyz="6.33505850524704E-11" izz="1.32923557625194E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ring_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ring_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_ring_1_joint" type="revolute">
|
||||
<origin xyz="-0.0037966 -0.11125 0.045878" rpy="1.5184 0 -1.5708"/>
|
||||
<parent link="right_base_link"/>
|
||||
<child link="right_ring_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="right_ring_2">
|
||||
<inertial>
|
||||
<origin xyz="0.000666830906754845 0.0256973412492289 -0.0060927714564012" rpy="0 0 0"/>
|
||||
<mass value="0.0096859390369724"/>
|
||||
<inertia ixx="2.26332196405867E-06" ixy="3.92172318180451E-07" ixz="-3.6571544042072E-10" iyy="3.83108005467821E-07" iyz="2.80158649618188E-09" izz="2.30200501593561E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ring_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_ring_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_ring_2_joint" type="revolute">
|
||||
<origin xyz="-0.0031431 0.032624 -0.00055" rpy="0 0 0"/>
|
||||
<parent link="right_ring_1"/>
|
||||
<child link="right_ring_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
<mimic joint="right_ring_1_joint" multiplier="1.05" offset="0"/>
|
||||
</joint>
|
||||
<link name="right_little_1">
|
||||
<inertial>
|
||||
<origin xyz="-0.00316844591541322 0.0120823779446085 -0.00664923024026526" rpy="0 0 0"/>
|
||||
<mass value="0.00719994987013216"/>
|
||||
<inertia ixx="1.26624415714453E-06" ixy="1.17303714016617E-07" ixz="-1.15327375315847E-11" iyy="5.96925804604496E-07" iyz="6.36110319317551E-11" izz="1.32922857962207E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_little_1.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_little_1.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_little_1_joint" type="revolute">
|
||||
<origin xyz="0.017589 -0.11125 0.042696" rpy="1.4661 0 -1.5708"/>
|
||||
<parent link="right_base_link"/>
|
||||
<child link="right_little_1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
</joint>
|
||||
<link name="right_little_2">
|
||||
<inertial>
|
||||
<origin xyz="0.0204417303421136 -0.00469494170410353 -0.00609999668427265" rpy="0 0 0"/>
|
||||
<mass value="0.0075928240732547"/>
|
||||
<inertia ixx="2.31546812157118E-07" ixy="-7.27021381773956E-08" ixz="2.36649664862442E-11" iyy="1.27663957628266E-06" iyz="-7.58283070676227E-12" izz="1.23909562166535E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_little_2.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_little_2.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_little_2_joint" type="revolute">
|
||||
<origin xyz="-0.005182 0.032363 -0.00055" rpy="0 0 1.5708"/>
|
||||
<parent link="right_little_1"/>
|
||||
<child link="right_little_2"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="0" upper="1.6" effort="1" velocity="100"/>
|
||||
<mimic joint="right_little_1_joint" multiplier="1.05" offset="0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,5 @@
|
|||
G1_remove_links: ["left_rubber_hand", "right_rubber_hand"]
|
||||
G1_remove_joints: ["left_hand_palm_joint", "right_hand_palm_joint"]
|
||||
|
||||
L_hand_remove_links: ['left_wrist_yaw_link']
|
||||
R_hand_remove_links: ['right_wrist_yaw_link']
|
||||
|
|
@ -0,0 +1,112 @@
|
|||
{
|
||||
"cells": [
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 1,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"import yaml\n",
|
||||
"f = open('inspire_hand/config.yaml')\n",
|
||||
"try:\n",
|
||||
" config = yaml.load(f, Loader=yaml.FullLoader)\n",
|
||||
"finally:\n",
|
||||
" f.close()"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 2,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"[INFO] Remove link left_rubber_hand\n",
|
||||
"[INFO] Remove link right_rubber_hand\n",
|
||||
"[INFO] Remove joint left_hand_palm_joint\n",
|
||||
"[INFO] Remove joint right_hand_palm_joint\n",
|
||||
"[INFO] Generate merged URDF file: g1_29dof_rev_1_0_with_inspire_hand_FTP.urdf Done.\n",
|
||||
"[INFO] Remove link left_rubber_hand\n",
|
||||
"[INFO] Remove link right_rubber_hand\n",
|
||||
"[INFO] Remove joint left_hand_palm_joint\n",
|
||||
"[INFO] Remove joint right_hand_palm_joint\n",
|
||||
"[INFO] Generate merged URDF file: g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf Done.\n"
|
||||
]
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"import xml.etree.ElementTree as ET\n",
|
||||
"\n",
|
||||
"\n",
|
||||
"def merge_urdfs(g1_urdf, hand_type):\n",
|
||||
" lhand_urdf = f\"inspire_hand/{hand_type}_left_hand.urdf\"\n",
|
||||
" rhand_urdf = f\"inspire_hand/{hand_type}_right_hand.urdf\"\n",
|
||||
" G1 = ET.parse(g1_urdf)\n",
|
||||
" g1 = G1.getroot()\n",
|
||||
" lhand = ET.parse(lhand_urdf).getroot()\n",
|
||||
" rhand = ET.parse(rhand_urdf).getroot()\n",
|
||||
"\n",
|
||||
" # clean\n",
|
||||
" for element in g1:\n",
|
||||
" name = element.attrib.get('name', None)\n",
|
||||
" if element.tag == \"link\" and name in config['G1_remove_links']:\n",
|
||||
" print('[INFO] Remove link', name)\n",
|
||||
" g1.remove(element)\n",
|
||||
"\n",
|
||||
" for element in g1:\n",
|
||||
" name = element.attrib.get('name', None)\n",
|
||||
" if element.tag == \"joint\" and name in config['G1_remove_joints']:\n",
|
||||
" print('[INFO] Remove joint', name)\n",
|
||||
" g1.remove(element)\n",
|
||||
"\n",
|
||||
" for element in lhand:\n",
|
||||
" name = element.attrib.get('name', None)\n",
|
||||
" if element.tag == \"link\" and name in config['L_hand_remove_links']:\n",
|
||||
" lhand.remove(element)\n",
|
||||
" for element in rhand:\n",
|
||||
" name = element.attrib.get('name', None)\n",
|
||||
" if element.tag == \"link\" and name in config['R_hand_remove_links']:\n",
|
||||
" rhand.remove(element)\n",
|
||||
"\n",
|
||||
" # merge\n",
|
||||
" for element in lhand:\n",
|
||||
" if element.tag in [\"link\", \"joint\"]:\n",
|
||||
" g1.append(element)\n",
|
||||
" for element in rhand:\n",
|
||||
" if element.tag in [\"link\", \"joint\"]:\n",
|
||||
" g1.append(element)\n",
|
||||
"\n",
|
||||
" output = g1_urdf[:-5] + f\"_with_inspire_hand_{hand_type}.urdf\"\n",
|
||||
" G1.write(output)\n",
|
||||
" print(f\"[INFO] Generate merged URDF file: {output} Done.\")\n",
|
||||
"\n",
|
||||
"\n",
|
||||
"merge_urdfs(g1_urdf=\"g1_29dof_rev_1_0.urdf\", hand_type=\"FTP\")\n",
|
||||
"merge_urdfs(g1_urdf=\"g1_29dof_rev_1_0.urdf\", hand_type=\"DFQ\")"
|
||||
]
|
||||
}
|
||||
],
|
||||
"metadata": {
|
||||
"kernelspec": {
|
||||
"display_name": "rerun3x",
|
||||
"language": "python",
|
||||
"name": "python3"
|
||||
},
|
||||
"language_info": {
|
||||
"codemirror_mode": {
|
||||
"name": "ipython",
|
||||
"version": 3
|
||||
},
|
||||
"file_extension": ".py",
|
||||
"mimetype": "text/x-python",
|
||||
"name": "python",
|
||||
"nbconvert_exporter": "python",
|
||||
"pygments_lexer": "ipython3",
|
||||
"version": "3.10.16"
|
||||
}
|
||||
},
|
||||
"nbformat": 4,
|
||||
"nbformat_minor": 2
|
||||
}
|
||||
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Loading…
Reference in New Issue