update g1_29dof_with_hand model
This commit is contained in:
matheecs
parent
85203a41fb
commit
9a7481d1e8
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@ -859,7 +859,7 @@
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</collision>
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</link>
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<joint name="left_hand_thumb_0_joint" type="revolute">
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<origin xyz="0.028 0 0" rpy="0 0 0"/>
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<origin xyz="0.0255 0 0" rpy="0 0 0"/>
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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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@ -867,9 +867,9 @@
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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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<origin xyz="-0.00035441315 -0.01329887312 0.00041236207" rpy="0 0 0"/>
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<mass value="0.08033018"/>
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<inertia ixx="0.00001322529836" ixy="0.00000008155993" ixz="0.00000002632547" iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887"/>
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<origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
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<mass value="0.08623657"/>
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<inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
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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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@ -888,17 +888,17 @@
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</collision>
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</link>
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<joint name="left_hand_thumb_1_joint" type="revolute">
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<origin xyz="0 -0.0246 0" rpy="0 0 0"/>
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<origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_thumb_0_link"/>
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<child link="left_hand_thumb_1_link"/>
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<limit effort="0.7" velocity="24" lower="-0.72431163" upper="1.04719755"/>
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<limit effort="1.4" velocity="12" lower="-0.72431163" upper="1.04719755"/>
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</joint>
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<link name="left_hand_thumb_1_link">
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<inertial>
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<origin xyz="0.00362060191 -0.04044395878 -0.00029771094" rpy="0 0 0"/>
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<mass value="0.05619628"/>
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<inertia ixx="0.00001234776425" ixy="0.00000026810498" ixz="-0.00000008482929" iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567"/>
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<origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
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<mass value="0.05885070"/>
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<inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
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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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@ -917,17 +917,17 @@
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</collision>
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</link>
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<joint name="left_hand_thumb_2_joint" type="revolute">
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<origin xyz="0.0055 -0.0528 0" rpy="0 0 0"/>
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<origin xyz="0 -0.0458 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_thumb_1_link"/>
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<child link="left_hand_thumb_2_link"/>
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<limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
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<limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
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</joint>
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<link name="left_hand_thumb_2_link">
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<inertial>
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<origin xyz="-0.00081405957 -0.03456206723 0.00012979919" rpy="0 0 0"/>
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<mass value="0.02487314"/>
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<inertia ixx="0.00000859888903" ixy="0.00000021727392" ixz="-0.00000000850093" iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891"/>
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<origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
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<mass value="0.02030626"/>
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<inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
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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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@ -946,17 +946,17 @@
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</collision>
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</link>
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<joint name="left_hand_middle_0_joint" type="revolute">
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<origin xyz="0.1 -0.0017 -0.0285" rpy="0 0 0"/>
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<origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_palm_link"/>
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<child link="left_hand_middle_0_link"/>
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<limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621"/>
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<limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
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</joint>
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<link name="left_hand_middle_0_link">
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<inertial>
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<origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0"/>
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<mass value="0.05619628"/>
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<inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
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<origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
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<mass value="0.05885070"/>
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<inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
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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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@ -975,17 +975,17 @@
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</collision>
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</link>
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<joint name="left_hand_middle_1_joint" type="revolute">
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<origin xyz="0.0528 -0.0055 0" rpy="0 0 0"/>
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<origin xyz="0.0458 0 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_middle_0_link"/>
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<child link="left_hand_middle_1_link"/>
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<limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
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<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
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</joint>
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<link name="left_hand_middle_1_link">
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<inertial>
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<origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0"/>
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<mass value="0.02487314"/>
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<inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
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<origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
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<mass value="0.02030626"/>
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<inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
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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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@ -1004,17 +1004,17 @@
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</collision>
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</link>
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<joint name="left_hand_index_0_joint" type="revolute">
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<origin xyz="0.1 -0.0017 0.0285" rpy="0 0 0"/>
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<origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_palm_link"/>
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<child link="left_hand_index_0_link"/>
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<limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621"/>
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<limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
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</joint>
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<link name="left_hand_index_0_link">
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<inertial>
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<origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0"/>
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<mass value="0.05619628"/>
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<inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
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<origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
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<mass value="0.05885070"/>
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<inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
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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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@ -1033,17 +1033,17 @@
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</collision>
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</link>
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<joint name="left_hand_index_1_joint" type="revolute">
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<origin xyz="0.0528 -0.0055 0" rpy="0 0 0"/>
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<origin xyz="0.0458 0 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_index_0_link"/>
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<child link="left_hand_index_1_link"/>
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<limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
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<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
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</joint>
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<link name="left_hand_index_1_link">
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<inertial>
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<origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0"/>
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<mass value="0.02487314"/>
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<inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
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<origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
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<mass value="0.02030626"/>
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<inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
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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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@ -1271,9 +1271,9 @@
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</joint>
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<link name="right_hand_palm_link">
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<inertial>
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<origin xyz="0.06214634836 0.00050869656 0.00058171093" rpy="0 0 0"/>
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<origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="0 0 0"/>
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<mass value="0.37283854"/>
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<inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
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<inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
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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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@ -1292,7 +1292,7 @@
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</collision>
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</link>
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<joint name="right_hand_thumb_0_joint" type="revolute">
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<origin xyz="0.028 0 0" rpy="0 0 0"/>
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<origin xyz="0.0255 0 0" rpy="0 0 0"/>
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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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@ -1300,9 +1300,9 @@
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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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<origin xyz="-0.00035441315 0.01329887312 -0.00041236207" rpy="0 0 0"/>
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<mass value="0.08033018"/>
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<inertia ixx="0.00001322529836" ixy="-0.00000008155993" ixz="-0.00000002632547" iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887"/>
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<origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0"/>
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<mass value="0.08623657"/>
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<inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663"/>
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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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@ -1321,17 +1321,17 @@
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</collision>
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</link>
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<joint name="right_hand_thumb_1_joint" type="revolute">
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<origin xyz="0 0.0246 0" rpy="0 0 0"/>
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<origin xyz="-0.0025 0.0193 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="right_hand_thumb_0_link"/>
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<child link="right_hand_thumb_1_link"/>
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<limit effort="0.7" velocity="24" lower="-1.04719755" upper="0.72431163"/>
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<limit effort="1.4" velocity="12" lower="-1.04719755" upper="0.72431163"/>
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</joint>
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<link name="right_hand_thumb_1_link">
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<inertial>
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<origin xyz="0.00362060191 0.04044395878 0.00029771094" rpy="0 0 0"/>
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<mass value="0.05619628"/>
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<inertia ixx="0.00001234776425" ixy="-0.00000026810498" ixz="0.00000008482929" iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567"/>
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<origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0"/>
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<mass value="0.05885070"/>
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<inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582"/>
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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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@ -1350,17 +1350,17 @@
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</collision>
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</link>
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<joint name="right_hand_thumb_2_joint" type="revolute">
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<origin xyz="0.0055 0.0528 0" rpy="0 0 0"/>
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<origin xyz="0 0.0458 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="right_hand_thumb_1_link"/>
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<child link="right_hand_thumb_2_link"/>
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<limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
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<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
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</joint>
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<link name="right_hand_thumb_2_link">
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<inertial>
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<origin xyz="-0.00081405957 0.03456206723 -0.00012979919" rpy="0 0 0"/>
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<mass value="0.02487314"/>
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<inertia ixx="0.00000859888903" ixy="-0.00000021727392" ixz="0.00000000850093" iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891"/>
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<origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0"/>
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<mass value="0.02030626"/>
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<inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776"/>
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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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@ -1378,76 +1378,18 @@
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</geometry>
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</collision>
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</link>
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<joint name="right_hand_index_0_joint" type="revolute">
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<origin xyz="0.1 0.0017 0.0285" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="right_hand_palm_link"/>
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<child link="right_hand_index_0_link"/>
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<limit effort="0.7" velocity="24" lower="-0.19198621" upper="1.83259571"/>
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</joint>
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<link name="right_hand_index_0_link">
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<inertial>
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<origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0"/>
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<mass value="0.05619628"/>
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<inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
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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/right_hand_index_0_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 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/right_hand_index_0_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_hand_index_1_joint" type="revolute">
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<origin xyz="0.0528 0.0055 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="right_hand_index_0_link"/>
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<child link="right_hand_index_1_link"/>
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<limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
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</joint>
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<link name="right_hand_index_1_link">
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<inertial>
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<origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0"/>
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<mass value="0.02487314"/>
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<inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
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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/right_hand_index_1_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 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/right_hand_index_1_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="right_hand_middle_0_joint" type="revolute">
|
||||
<origin xyz="0.1 0.0017 -0.0285" rpy="0 0 0"/>
|
||||
<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="0.7" velocity="24" lower="-0.19198621" upper="1.83259571"/>
|
||||
<limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
|
||||
</joint>
|
||||
<link name="right_hand_middle_0_link">
|
||||
<inertial>
|
||||
<origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0"/>
|
||||
<mass value="0.05619628"/>
|
||||
<inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
|
||||
<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"/>
|
||||
|
|
@ -1466,17 +1408,17 @@
|
|||
</collision>
|
||||
</link>
|
||||
<joint name="right_hand_middle_1_joint" type="revolute">
|
||||
<origin xyz="0.0528 0.0055 0" rpy="0 0 0"/>
|
||||
<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="0.7" velocity="24" lower="0" upper="2.09439510"/>
|
||||
<limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
|
||||
</joint>
|
||||
<link name="right_hand_middle_1_link">
|
||||
<inertial>
|
||||
<origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0"/>
|
||||
<mass value="0.02487314"/>
|
||||
<inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
|
||||
<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"/>
|
||||
|
|
@ -1494,4 +1436,62 @@
|
|||
</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>
|
||||
|
|
@ -48,10 +48,10 @@
|
|||
<mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL"/>
|
||||
<mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL"/>
|
||||
<mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL"/>
|
||||
<mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
|
||||
<mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
|
||||
<mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL"/>
|
||||
<mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL"/>
|
||||
<mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
|
||||
<mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
|
|
@ -196,44 +196,44 @@
|
|||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
||||
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
|
||||
<body name="left_hand_thumb_0_link" pos="0.0695 0.003 0">
|
||||
<inertial pos="-0.000354413 -0.0132989 0.000412362" quat="0.385163 0.591021 -0.567321 0.424842" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
|
||||
<body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
|
||||
<inertial pos="-0.000884246 -0.00863407 0.000944293" quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
||||
<joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
|
||||
<body name="left_hand_thumb_1_link" pos="0 -0.0246 0">
|
||||
<inertial pos="0.0036206 -0.040444 -0.000297711" quat="0.696371 0.699653 0.125539 -0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
|
||||
<inertial pos="-0.000827888 -0.0354744 -0.0003809" quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link"/>
|
||||
<geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="left_hand_thumb_2_link" pos="0.0055 -0.0528 0">
|
||||
<inertial pos="-0.00081406 -0.0345621 0.000129799" quat="0.701976 0.711984 0.0160342 0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
|
||||
<inertial pos="-0.00171735 -0.0262819 0.000107789" quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_middle_0_link" pos="0.1415 0.0013 -0.0285">
|
||||
<inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
|
||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
|
||||
<body name="left_hand_middle_1_link" pos="0.0528 -0.0055 0">
|
||||
<inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="left_hand_middle_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_hand_index_0_link" pos="0.1415 0.0013 0.0285">
|
||||
<inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
|
||||
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
|
||||
<body name="left_hand_index_1_link" pos="0.0528 -0.0055 0">
|
||||
<inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="left_hand_index_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
|
||||
</body>
|
||||
|
|
@ -276,54 +276,54 @@
|
|||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
|
||||
<body name="right_wrist_yaw_link" pos="0.046 0 0">
|
||||
<inertial pos="0.0885506 -0.00212216 0.000573742" quat="0.507224 0.511377 0.494292 0.486717" mass="0.457415" diaginertia="0.0010598 0.000895373 0.0003238"/>
|
||||
<inertial pos="0.0885506 -0.00212216 -0.000374562" quat="0.505358 0.513241 0.493844 0.487149" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
|
||||
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
||||
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
|
||||
<body name="right_hand_thumb_0_link" pos="0.0695 -0.003 0">
|
||||
<inertial pos="-0.000354413 0.0132989 -0.000412362" quat="0.424842 0.567321 -0.591021 0.385163" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
|
||||
<body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
|
||||
<inertial pos="-0.000884246 0.00863407 0.000944293" quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
|
||||
<joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
|
||||
<body name="right_hand_thumb_1_link" pos="0 0.0246 0">
|
||||
<inertial pos="0.0036206 0.040444 0.000297711" quat="0.696371 0.699653 -0.125539 0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
|
||||
<inertial pos="-0.000827888 0.0354744 -0.0003809" quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link"/>
|
||||
<geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
|
||||
<body name="right_hand_thumb_2_link" pos="0.0055 0.0528 0">
|
||||
<inertial pos="-0.00081406 0.0345621 -0.000129799" quat="0.701976 0.711984 -0.0160342 -0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="right_hand_thumb_2_link" pos="0 0.0458 0">
|
||||
<inertial pos="-0.00171735 0.0262819 0.000107789" quat="0.710977 0.703174 0.00766553 0.00017564" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
|
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|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_index_0_link" pos="0.1415 -0.0013 0.0285">
|
||||
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|
||||
<joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
|
||||
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|
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
||||
<body name="right_hand_index_1_link" pos="0.0528 0.0055 0">
|
||||
<inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_middle_0_link" pos="0.1415 -0.0013 -0.0285">
|
||||
<inertial pos="0.040444 0.0036206 -0.000287711" quat="0.562384 0.40596 0.583499 0.422433" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
|
||||
<joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-0.191986 1.8326" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="right_hand_middle_0_link" pos="0.1192 -0.0046 -0.0285">
|
||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_0_link"/>
|
||||
<body name="right_hand_middle_1_link" pos="0.0528 0.0055 0">
|
||||
<inertial pos="0.0345621 -0.00081406 0.000129799" quat="0.491268 0.492111 0.514787 0.501475" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
|
||||
<joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
|
||||
<body name="right_hand_middle_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
||||
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_middle_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
|
||||
<inertial pos="0.0354744 -0.000827888 0.0003809" quat="0.606373 0.417187 0.552395 0.391313" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
|
||||
<joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
|
||||
<body name="right_hand_index_1_link" pos="0.0458 0 0">
|
||||
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
|
||||
<joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
|
|
|||
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Reference in New Issue