add dex3-1 urdf
This commit is contained in:
matheecs
parent
c20ca8f1fe
commit
94264fc26c
|
|
@ -0,0 +1,238 @@
|
|||
<robot name="g1_29dof_with_hand_rev_1_0">
|
||||
<mujoco>
|
||||
<compiler meshdir="meshes" discardvisual="false"/>
|
||||
</mujoco>
|
||||
|
||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
||||
<!-- <link name="world"></link>
|
||||
<joint name="floating_base_joint" type="floating">
|
||||
<parent link="world"/>
|
||||
<child link="left_hand_palm_link"/>
|
||||
</joint> -->
|
||||
|
||||
<link name="left_hand_palm_link">
|
||||
<inertial>
|
||||
<origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0"/>
|
||||
<mass value="0.37283854"/>
|
||||
<inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_palm_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_palm_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hand_thumb_0_joint" type="revolute">
|
||||
<origin xyz="0.0255 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="left_hand_palm_link"/>
|
||||
<child link="left_hand_thumb_0_link"/>
|
||||
<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
|
||||
</joint>
|
||||
<link name="left_hand_thumb_0_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
|
||||
<mass value="0.08623657"/>
|
||||
<inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_thumb_0_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_thumb_0_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hand_thumb_1_joint" type="revolute">
|
||||
<origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_hand_thumb_0_link"/>
|
||||
<child link="left_hand_thumb_1_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="-0.72431163" upper="1.04719755"/>
|
||||
</joint>
|
||||
<link name="left_hand_thumb_1_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
|
||||
<mass value="0.05885070"/>
|
||||
<inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_thumb_1_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.001 -0.032 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.03 0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hand_thumb_2_joint" type="revolute">
|
||||
<origin xyz="0 -0.0458 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_hand_thumb_1_link"/>
|
||||
<child link="left_hand_thumb_2_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
|
||||
</joint>
|
||||
<link name="left_hand_thumb_2_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
|
||||
<mass value="0.02030626"/>
|
||||
<inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_thumb_2_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_thumb_2_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hand_middle_0_joint" type="revolute">
|
||||
<origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_hand_palm_link"/>
|
||||
<child link="left_hand_middle_0_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
|
||||
</joint>
|
||||
<link name="left_hand_middle_0_link">
|
||||
<inertial>
|
||||
<origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
|
||||
<mass value="0.05885070"/>
|
||||
<inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_middle_0_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_middle_0_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hand_middle_1_joint" type="revolute">
|
||||
<origin xyz="0.0458 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_hand_middle_0_link"/>
|
||||
<child link="left_hand_middle_1_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
|
||||
</joint>
|
||||
<link name="left_hand_middle_1_link">
|
||||
<inertial>
|
||||
<origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
|
||||
<mass value="0.02030626"/>
|
||||
<inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_middle_1_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_middle_1_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hand_index_0_joint" type="revolute">
|
||||
<origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_hand_palm_link"/>
|
||||
<child link="left_hand_index_0_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
|
||||
</joint>
|
||||
<link name="left_hand_index_0_link">
|
||||
<inertial>
|
||||
<origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
|
||||
<mass value="0.05885070"/>
|
||||
<inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_index_0_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_index_0_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hand_index_1_joint" type="revolute">
|
||||
<origin xyz="0.0458 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_hand_index_0_link"/>
|
||||
<child link="left_hand_index_1_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
|
||||
</joint>
|
||||
<link name="left_hand_index_1_link">
|
||||
<inertial>
|
||||
<origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
|
||||
<mass value="0.02030626"/>
|
||||
<inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_index_1_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_hand_index_1_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
|
@ -0,0 +1,238 @@
|
|||
<robot name="g1_29dof_with_hand_rev_1_0">
|
||||
<mujoco>
|
||||
<compiler meshdir="meshes" discardvisual="false"/>
|
||||
</mujoco>
|
||||
|
||||
<!-- [CAUTION] uncomment when convert to mujoco -->
|
||||
<!-- <link name="world"></link>
|
||||
<joint name="floating_base_joint" type="floating">
|
||||
<parent link="world"/>
|
||||
<child link="right_hand_palm_link"/>
|
||||
</joint> -->
|
||||
|
||||
<link name="right_hand_palm_link">
|
||||
<inertial>
|
||||
<origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="0 0 0"/>
|
||||
<mass value="0.37283854"/>
|
||||
<inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_palm_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_palm_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hand_thumb_0_joint" type="revolute">
|
||||
<origin xyz="0.0255 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="right_hand_palm_link"/>
|
||||
<child link="right_hand_thumb_0_link"/>
|
||||
<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
|
||||
</joint>
|
||||
<link name="right_hand_thumb_0_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0"/>
|
||||
<mass value="0.08623657"/>
|
||||
<inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_thumb_0_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_thumb_0_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hand_thumb_1_joint" type="revolute">
|
||||
<origin xyz="-0.0025 0.0193 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_hand_thumb_0_link"/>
|
||||
<child link="right_hand_thumb_1_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="-1.04719755" upper="0.72431163"/>
|
||||
</joint>
|
||||
<link name="right_hand_thumb_1_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0"/>
|
||||
<mass value="0.05885070"/>
|
||||
<inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_thumb_1_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.001 0.032 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.03 0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hand_thumb_2_joint" type="revolute">
|
||||
<origin xyz="0 0.0458 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_hand_thumb_1_link"/>
|
||||
<child link="right_hand_thumb_2_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
|
||||
</joint>
|
||||
<link name="right_hand_thumb_2_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0"/>
|
||||
<mass value="0.02030626"/>
|
||||
<inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_thumb_2_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_thumb_2_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hand_middle_0_joint" type="revolute">
|
||||
<origin xyz="0.0777 -0.0016 -0.0285" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_hand_palm_link"/>
|
||||
<child link="right_hand_middle_0_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
|
||||
</joint>
|
||||
<link name="right_hand_middle_0_link">
|
||||
<inertial>
|
||||
<origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
|
||||
<mass value="0.05885070"/>
|
||||
<inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_middle_0_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_middle_0_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hand_middle_1_joint" type="revolute">
|
||||
<origin xyz="0.0458 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_hand_middle_0_link"/>
|
||||
<child link="right_hand_middle_1_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
|
||||
</joint>
|
||||
<link name="right_hand_middle_1_link">
|
||||
<inertial>
|
||||
<origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
|
||||
<mass value="0.02030626"/>
|
||||
<inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_middle_1_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_middle_1_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hand_index_0_joint" type="revolute">
|
||||
<origin xyz="0.0777 -0.0016 0.0285" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_hand_palm_link"/>
|
||||
<child link="right_hand_index_0_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
|
||||
</joint>
|
||||
<link name="right_hand_index_0_link">
|
||||
<inertial>
|
||||
<origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
|
||||
<mass value="0.05885070"/>
|
||||
<inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_index_0_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_index_0_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_hand_index_1_joint" type="revolute">
|
||||
<origin xyz="0.0458 0 0" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_hand_index_0_link"/>
|
||||
<child link="right_hand_index_1_link"/>
|
||||
<limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
|
||||
</joint>
|
||||
<link name="right_hand_index_1_link">
|
||||
<inertial>
|
||||
<origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
|
||||
<mass value="0.02030626"/>
|
||||
<inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_index_1_link.STL"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_hand_index_1_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
Loading…
Reference in New Issue