2774 lines
62 KiB
XML
2774 lines
62 KiB
XML
<robot
|
|
name="h1">
|
|
<link
|
|
name="pelvis">
|
|
<inertial>
|
|
<origin
|
|
xyz="3.31722511855514E-06 2.5546944378684E-07 -0.0427174809482497"
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|
rpy="0 0 0" />
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|
<mass
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|
value="2.46720698341788" />
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|
<inertia
|
|
ixx="0.0155794040240623"
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|
ixy="-1.70900789186328E-07"
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ixz="-2.64171934477548E-07"
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|
iyy="0.00425456762413368"
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|
iyz="1.32904382115621E-08"
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|
izz="0.0177014785496157" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
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|
xyz="0 0 0"
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|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/pelvis.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
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|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
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|
rpy="0 0 0" />
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|
<geometry>
|
|
<mesh
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|
filename="package://h1_description/meshes/pelvis.STL" />
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|
</geometry>
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|
</collision>
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|
</link>
|
|
<link
|
|
name="left_hip_yaw_link">
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|
<inertial>
|
|
<origin
|
|
xyz="-0.0552998470465489 2.32727512759767E-06 0.0125466081929538"
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rpy="0 0 0" />
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<mass
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value="0.812221266540345" />
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<inertia
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ixx="0.00181988449372547"
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ixy="7.65213610747462E-08"
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ixz="-0.000464190352912876"
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iyy="0.00185317260162015"
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iyz="3.49347421376249E-08"
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izz="0.00128996301196461" />
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|
</inertial>
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|
<visual>
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|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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|
<mesh
|
|
filename="package://h1_description/meshes/left_hip_yaw_link.STL" />
|
|
</geometry>
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|
<material
|
|
name="">
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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>
|
|
<origin
|
|
xyz="0 0 0"
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rpy="0 0 0" />
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|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_hip_yaw_link.STL" />
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|
</geometry>
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|
</collision>
|
|
</link>
|
|
<joint
|
|
name="left_hip_yaw_joint"
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|
type="revolute">
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|
<origin
|
|
xyz="0 0.0875 -0.1742"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="pelvis" />
|
|
<child
|
|
link="left_hip_yaw_link" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-0.43"
|
|
upper="0.43"
|
|
effort="200"
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|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="left_hip_roll_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00611009201879201 -0.012911613784405 2.28525148823766E-06"
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rpy="0 0 0" />
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|
<mass
|
|
value="0.760397923884604" />
|
|
<inertia
|
|
ixx="0.000941924987770898"
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|
ixy="5.55416617763835E-05"
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|
ixz="8.29578746733772E-09"
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iyy="0.00135078288427786"
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|
iyz="6.80474575168109E-08"
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|
izz="0.00107007199090097" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_hip_roll_link.STL" />
|
|
</geometry>
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|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
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|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
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filename="package://h1_description/meshes/left_hip_roll_link.STL" />
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</geometry>
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</collision>
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</link>
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<joint
|
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name="left_hip_roll_joint"
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|
type="revolute">
|
|
<origin
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|
xyz="0.03946772787 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="left_hip_yaw_link" />
|
|
<child
|
|
link="left_hip_roll_link" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.43"
|
|
upper="0.43"
|
|
effort="200"
|
|
velocity="0" />
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|
</joint>
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|
<link
|
|
name="left_hip_pitch_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0124359528977009 -0.0177785309930213 -0.102715684537467"
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|
rpy="0 0 0" />
|
|
<mass
|
|
value="2.51390562613671" />
|
|
<inertia
|
|
ixx="0.0462339754048383"
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|
ixy="-0.000418263062499571"
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|
ixz="0.00333498421418784"
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|
iyy="0.0459435477825226"
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|
iyz="0.00399425974700521"
|
|
izz="0.00437682290745374" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_hip_pitch_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
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filename="package://h1_description/meshes/left_hip_pitch_link.STL" />
|
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</geometry>
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</collision>
|
|
</link>
|
|
<joint
|
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name="left_hip_pitch_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0.11536462424 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="left_hip_roll_link" />
|
|
<child
|
|
link="left_hip_pitch_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-1.57"
|
|
upper="0.56"
|
|
effort="200"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
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name="left_knee_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0111532652986465 -0.00210148358371862 -0.16436342641949"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.38784062515733" />
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|
<inertia
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|
ixx="0.0176588759617023"
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ixy="-6.81694760107566E-05"
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|
ixz="0.000703347720715395"
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iyy="0.0180835867027155"
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iyz="0.000143259566014091"
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|
izz="0.00127125869292153" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_knee_link.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
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|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
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|
filename="package://h1_description/meshes/left_knee_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
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name="left_knee_joint"
|
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type="revolute">
|
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<origin
|
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xyz="0 0 -0.4"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="left_hip_pitch_link" />
|
|
<child
|
|
link="left_knee_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-0.26"
|
|
upper="2.05"
|
|
effort="300"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
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name="left_ankle_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.042575 -0.000001 -0.044672"
|
|
rpy="0 0 0" />
|
|
<mass
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|
value="0.474" />
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|
<inertia
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|
ixx="0.000159668"
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ixy="-0.000000005"
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ixz="0.000141063"
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iyy="0.002900286"
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|
iyz="0.000000014"
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|
izz="0.002805438" />
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</inertial>
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|
<visual>
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|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_ankle_link.STL" />
|
|
</geometry>
|
|
<material
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|
name="">
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|
<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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|
<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://h1_description/meshes/left_ankle_link.STL" />
|
|
</geometry>
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|
</collision>
|
|
</link>
|
|
<joint
|
|
name="left_ankle_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 -0.4"
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|
rpy="0 0 0" />
|
|
<parent
|
|
link="left_knee_link" />
|
|
<child
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|
link="left_ankle_link" />
|
|
<axis
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|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-0.87"
|
|
upper="0.52"
|
|
effort="40"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="right_hip_yaw_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.0552998734981944 -2.19116210505022E-06 0.0125466010739156"
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rpy="0 0 0" />
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<mass
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value="0.812220994092406" />
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<inertia
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|
ixx="0.00181988459757284"
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ixy="-7.92404310211978E-08"
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ixz="-0.000464190519818566"
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iyy="0.00185317301794793"
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iyz="-3.65409881564551E-08"
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izz="0.00128996256133052" />
|
|
</inertial>
|
|
<visual>
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|
<origin
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|
xyz="0 0 0"
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|
rpy="0 0 0" />
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<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/right_hip_yaw_link.STL" />
|
|
</geometry>
|
|
<material
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|
name="">
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|
<color
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|
rgba="1 1 1 1" />
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|
</material>
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|
</visual>
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|
<collision>
|
|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/right_hip_yaw_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_hip_yaw_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 -0.0875 -0.1742"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="pelvis" />
|
|
<child
|
|
link="right_hip_yaw_link" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-0.43"
|
|
upper="0.43"
|
|
effort="200"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="right_hip_roll_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00611020944997454 0.0129115573573222 2.30553074595519E-06"
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rpy="0 0 0" />
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|
<mass
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value="0.760400057805762" />
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<inertia
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|
ixx="0.000941929527765284"
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ixy="-5.55428898773058E-05"
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ixz="8.89614878164627E-09"
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iyy="0.00135078866650044"
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iyz="-6.86505933741414E-08"
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izz="0.00107007557612766" />
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|
</inertial>
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|
<visual>
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|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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|
<mesh
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|
filename="package://h1_description/meshes/right_hip_roll_link.STL" />
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|
</geometry>
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|
<material
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|
name="">
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|
<color
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|
rgba="1 1 1 1" />
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|
</material>
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|
</visual>
|
|
<collision>
|
|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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|
<geometry>
|
|
<mesh
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|
filename="package://h1_description/meshes/right_hip_roll_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_hip_roll_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.03946772787 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_hip_yaw_link" />
|
|
<child
|
|
link="right_hip_roll_link" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.43"
|
|
upper="0.43"
|
|
effort="200"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="right_hip_pitch_link">
|
|
<inertial>
|
|
<origin
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|
xyz="0.0124359930114926 0.0177784573102787 -0.102716658926343"
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rpy="0 0 0" />
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|
<mass
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value="2.51391221514723" />
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|
<inertia
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|
ixx="0.0462347590313498"
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ixy="0.000418268143106936"
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ixz="0.00333508240549552"
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iyy="0.0459443173081576"
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iyz="-0.00399432390662422"
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izz="0.00437681495700316" />
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</inertial>
|
|
<visual>
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|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
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|
<geometry>
|
|
<mesh
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|
filename="package://h1_description/meshes/right_hip_pitch_link.STL" />
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|
</geometry>
|
|
<material
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|
name="">
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|
<color
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|
rgba="1 1 1 1" />
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|
</material>
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|
</visual>
|
|
<collision>
|
|
<origin
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|
xyz="0 0 0"
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|
rpy="0 0 0" />
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|
<geometry>
|
|
<mesh
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|
filename="package://h1_description/meshes/right_hip_pitch_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_hip_pitch_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 -0.11536462424 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_hip_roll_link" />
|
|
<child
|
|
link="right_hip_pitch_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-1.57"
|
|
upper="0.56"
|
|
effort="200"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="right_knee_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0111532054494979 0.00210147201777963 -0.164362889115614"
|
|
rpy="0 0 0" />
|
|
<mass
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|
value="1.38785091435145" />
|
|
<inertia
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|
ixx="0.0176589354193338"
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|
ixy="6.81692212087034E-05"
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|
ixz="0.00070335289606269"
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|
iyy="0.0180836459434297"
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|
iyz="-0.000143258860211554"
|
|
izz="0.00127126016185647" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/right_knee_link.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
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|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
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|
xyz="0 0 0"
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rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
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|
filename="package://h1_description/meshes/right_knee_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_knee_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 -0.4"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_hip_pitch_link" />
|
|
<child
|
|
link="right_knee_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-0.26"
|
|
upper="2.05"
|
|
effort="300"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="right_ankle_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.042575 0.000001 -0.044672"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.474" />
|
|
<inertia
|
|
ixx="0.000159668"
|
|
ixy="0.000000005"
|
|
ixz="0.000141063"
|
|
iyy="0.002900286"
|
|
iyz="-0.000000014"
|
|
izz="0.002805438" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/right_ankle_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="package://h1_description/meshes/right_ankle_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_ankle_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 -0.4"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_knee_link" />
|
|
<child
|
|
link="right_ankle_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-0.87"
|
|
upper="0.52"
|
|
effort="40"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="torso_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0019209642948768 -3.63188229712087E-07 0.269096889041749"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="15.3277728264048" />
|
|
<inertia
|
|
ixx="0.422617821814499"
|
|
ixy="-1.32755992528604E-06"
|
|
ixz="-0.0107840988303801"
|
|
iyy="0.387119328646928"
|
|
iyz="1.43678896468394E-06"
|
|
izz="0.0895823037542743" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/torso_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="package://h1_description/meshes/torso_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="torso_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="pelvis" />
|
|
<child
|
|
link="torso_link" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-2.35"
|
|
upper="2.35"
|
|
effort="200"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="left_shoulder_pitch_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00431423428819262 0.0545680722429941 -0.0158057885614539"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.39711525759175" />
|
|
<inertia
|
|
ixx="0.000426933371038538"
|
|
ixy="3.3131010585919E-06"
|
|
ixz="-1.12961756205576E-06"
|
|
iyy="0.000319447136982771"
|
|
iyz="1.32534140926153E-05"
|
|
izz="0.000344820669777049" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_shoulder_pitch_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="package://h1_description/meshes/left_shoulder_pitch_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="left_shoulder_pitch_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.0055 0.155354297602023 0.429991895369114"
|
|
rpy="0.43633231299858 0 0" />
|
|
<parent
|
|
link="torso_link" />
|
|
<child
|
|
link="left_shoulder_pitch_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-2.87"
|
|
upper="2.87"
|
|
effort="40"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="left_shoulder_roll_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00506927781751245 -0.000350708976701253 -0.102229263710221"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.291989882010004" />
|
|
<inertia
|
|
ixx="0.000420736177139627"
|
|
ixy="-1.38579766838052E-06"
|
|
ixz="-9.44887032649605E-05"
|
|
iyy="0.00045163585569499"
|
|
iyz="-4.71688243530896E-06"
|
|
izz="0.000327311700509138" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_shoulder_roll_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="package://h1_description/meshes/left_shoulder_roll_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="left_shoulder_roll_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0055 0.0565000000018586 -0.0165"
|
|
rpy="-0.43633231299858 0 0" />
|
|
<parent
|
|
link="left_shoulder_pitch_link" />
|
|
<child
|
|
link="left_shoulder_roll_link" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-0.34"
|
|
upper="3.11"
|
|
effort="40"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="left_shoulder_yaw_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00778389584984959 0.000767058526100817 -0.125431328972536"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.681412366138755" />
|
|
<inertia
|
|
ixx="0.0034501083469846"
|
|
ixy="-3.72566385545378E-06"
|
|
ixz="0.000348455120219903"
|
|
iyy="0.00364220548154351"
|
|
iyz="3.07109813186911E-05"
|
|
izz="0.000431079833886041" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_shoulder_yaw_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="package://h1_description/meshes/left_shoulder_yaw_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="left_shoulder_yaw_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 -0.1343"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="left_shoulder_roll_link" />
|
|
<child
|
|
link="left_shoulder_yaw_link" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-1.3"
|
|
upper="4.45"
|
|
effort="15"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="left_elbow_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.164862 0.000118 -0.015734"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.723" />
|
|
<inertia
|
|
ixx="0.00049639"
|
|
ixy="-0.000033971"
|
|
ixz="0.000316026"
|
|
iyy="0.006456355"
|
|
iyz="0.000004929"
|
|
izz="0.006450997" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_elbow_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="package://h1_description/meshes/left_elbow_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="left_elbow_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.0185 0 -0.198"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="left_shoulder_yaw_link" />
|
|
<child
|
|
link="left_elbow_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-1.25"
|
|
upper="2.61"
|
|
effort="15"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="left_hand_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.003993 -0.000094 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.014" />
|
|
<inertia
|
|
ixx="0.000003449"
|
|
ixy="0.000000006"
|
|
ixz="0"
|
|
iyy="0.000001917"
|
|
iyz="0"
|
|
izz="0.000001932" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/left_hand_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="package://h1_description/meshes/left_hand_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="left_hand_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.2605 0 -0.0185"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="left_elbow_link" />
|
|
<child
|
|
link="left_hand_link" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-3.0543261909900767596164588448551"
|
|
upper="3.0543261909900767596164588448551"
|
|
effort="7"
|
|
velocity="0" />
|
|
</joint>
|
|
<joint
|
|
name="L_base_link_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.003 0 0"
|
|
rpy="0 0 1.5707963267948966192313216916398" />
|
|
<parent link="left_hand_link"/>
|
|
<child link="L_hand_base_link"/>
|
|
</joint>
|
|
|
|
<link name="L_hand_base_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.002551 -0.066047 -0.0019357"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.14143" />
|
|
<inertia
|
|
ixx="0.0001234"
|
|
ixy="2.1995E-06"
|
|
ixz="-1.7694E-06"
|
|
iyy="8.3835E-05"
|
|
iyz="1.5968E-06"
|
|
izz="7.7231E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/L_hand_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="package://h1_description/meshes/L_hand_base_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<link name="L_thumb_proximal_base">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0048817 0.00038782 -0.00722"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0018869" />
|
|
<inertia
|
|
ixx="5.5158E-08"
|
|
ixy="-1.1803E-08"
|
|
ixz="-4.6743E-09"
|
|
iyy="8.2164E-08"
|
|
iyz="-1.3521E-09"
|
|
izz="6.7434E-08" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link11_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.82745 0.83922 0.82745 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link11_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_thumb_proximal_yaw_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.01696 -0.0691 0.02045"
|
|
rpy="1.5708 -1.5708 0" />
|
|
<parent
|
|
link="L_hand_base_link" />
|
|
<child
|
|
link="L_thumb_proximal_base" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-0.1"
|
|
upper="1.3"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="L_thumb_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.021936 -0.01279 -0.0080386"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0066101" />
|
|
<inertia
|
|
ixx="1.5693E-06"
|
|
ixy="7.8339E-07"
|
|
ixz="8.5959E-10"
|
|
iyy="1.7356E-06"
|
|
iyz="1.0378E-09"
|
|
izz="2.787E-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link12_L.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="package://h1_description/meshes/Link12_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_thumb_proximal_pitch_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.0099867 0.0098242 -0.0089"
|
|
rpy="-1.5708 0 0.16939" />
|
|
<parent
|
|
link="L_thumb_proximal_base" />
|
|
<child
|
|
link="L_thumb_proximal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="-0.1"
|
|
upper="0.6"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="L_thumb_intermediate">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0095531 0.0016282 -0.0072002"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0037844" />
|
|
<inertia
|
|
ixx="3.6981E-07"
|
|
ixy="9.8603E-08"
|
|
ixz="-2.8173E-12"
|
|
iyy="3.2395E-07"
|
|
iyz="-2.8028E-12"
|
|
izz="4.6532E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link13_L.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="package://h1_description/meshes/Link13_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_thumb_intermediate_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.04407 -0.034553 -0.0008"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_thumb_proximal" />
|
|
<child
|
|
link="L_thumb_intermediate" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="0.8"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
<mimic
|
|
joint="L_thumb_proximal_pitch_joint"
|
|
multiplier="1.6"
|
|
offset="0" />
|
|
</joint>
|
|
|
|
<link name="L_thumb_distal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0092888 -0.004953 -0.0060033"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.003344" />
|
|
<inertia
|
|
ixx="1.3632E-07"
|
|
ixy="5.6787E-08"
|
|
ixz="-9.1939E-11"
|
|
iyy="1.4052E-07"
|
|
iyz="1.2145E-10"
|
|
izz="2.0026E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link14_L.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="package://h1_description/meshes/Link14_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_thumb_distal_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.020248 -0.010156 -0.0012"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_thumb_intermediate" />
|
|
<child
|
|
link="L_thumb_distal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.2"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
<mimic
|
|
joint="L_thumb_proximal_pitch_joint"
|
|
multiplier="2.4"
|
|
offset="0" />
|
|
</joint>
|
|
|
|
<link name="L_index_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0012971 -0.011934 -0.0059998"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0042405" />
|
|
<inertia
|
|
ixx="6.6215E-07"
|
|
ixy="1.8442E-08"
|
|
ixz="1.3746E-12"
|
|
iyy="2.1167E-07"
|
|
iyz="-1.4773E-11"
|
|
izz="6.9402E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link15_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.79216 0.81961 0.93333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link15_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_index_proximal_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00028533 -0.13653 0.032268"
|
|
rpy="-0.034907 0 0" />
|
|
<parent
|
|
link="L_hand_base_link" />
|
|
<child
|
|
link="L_index_proximal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="L_index_intermediate">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0021753 -0.019567 -0.005"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0045682" />
|
|
<inertia
|
|
ixx="7.6284E-07"
|
|
ixy="-8.063E-08"
|
|
ixz="3.6797E-13"
|
|
iyy="9.4308E-08"
|
|
iyz="1.5743E-13"
|
|
izz="7.8176E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link16_L.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="package://h1_description/meshes/Link16_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_index_intermediate_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0024229 -0.032041 -0.001"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_index_proximal" />
|
|
<child
|
|
link="L_index_intermediate" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
<mimic
|
|
joint="L_index_proximal_joint"
|
|
multiplier="1"
|
|
offset="0" />
|
|
</joint>
|
|
|
|
<link name="L_middle_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0012971 -0.011934 -0.0059999"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0042405" />
|
|
<inertia
|
|
ixx="6.6215E-07"
|
|
ixy="1.8442E-08"
|
|
ixz="1.2299E-12"
|
|
iyy="2.1167E-07"
|
|
iyz="-1.4484E-11"
|
|
izz="6.9402E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link17_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.79216 0.81961 0.93333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link17_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_middle_proximal_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00028533 -0.1371 0.01295"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_hand_base_link" />
|
|
<child
|
|
link="L_middle_proximal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="L_middle_intermediate">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.001921 -0.020796 -0.0049999"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0050397" />
|
|
<inertia
|
|
ixx="9.5823E-07"
|
|
ixy="-1.1425E-07"
|
|
ixz="-2.4186E-12"
|
|
iyy="1.0646E-07"
|
|
iyz="3.6974E-12"
|
|
izz="9.8385E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link18_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.82745 0.83922 0.82745 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link18_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_middle_intermediate_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0024229 -0.032041 -0.001"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_middle_proximal" />
|
|
<child
|
|
link="L_middle_intermediate" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
<mimic
|
|
joint="L_middle_proximal_joint"
|
|
multiplier="1"
|
|
offset="0" />
|
|
</joint>
|
|
|
|
<link name="L_ring_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0012971 -0.011934 -0.0059999"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0042405" />
|
|
<inertia
|
|
ixx="6.6215E-07"
|
|
ixy="1.8442E-08"
|
|
ixz="9.6052E-13"
|
|
iyy="2.1167E-07"
|
|
iyz="-1.4124E-11"
|
|
izz="6.9402E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link19_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.79216 0.81961 0.93333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link19_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_ring_proximal_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00028533 -0.13691 -0.0062872"
|
|
rpy="0.05236 0 0" />
|
|
<parent
|
|
link="L_hand_base_link" />
|
|
<child
|
|
link="L_ring_proximal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="L_ring_intermediate">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0021753 -0.019567 -0.005"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0045682" />
|
|
<inertia
|
|
ixx="7.6285E-07"
|
|
ixy="-8.0631E-08"
|
|
ixz="3.3472E-14"
|
|
iyy="9.4308E-08"
|
|
iyz="-4.4773E-13"
|
|
izz="7.8176E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/meshes/Link20_L.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="package://h1_description/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="package://h1_description/meshes/Link21_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.79216 0.81961 0.93333 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://h1_description/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="package://h1_description/meshes/Link22_L.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="package://h1_description/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>
|
|
<link
|
|
name="right_shoulder_pitch_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00431422175136645 -0.0545680787603574 -0.0158057806958861"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.397115199412805" />
|
|
<inertia
|
|
ixx="0.000426933390625267"
|
|
ixy="-3.31334388566935E-06"
|
|
ixz="-1.12956544864161E-06"
|
|
iyy="0.000319446999853806"
|
|
iyz="-1.32532524614685E-05"
|
|
izz="0.000344820853743014" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/right_shoulder_pitch_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="package://h1_description/meshes/right_shoulder_pitch_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_shoulder_pitch_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.0055 -0.155354297602023 0.429991895369114"
|
|
rpy="-0.43633231299858 0 0" />
|
|
<parent
|
|
link="torso_link" />
|
|
<child
|
|
link="right_shoulder_pitch_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-2.87"
|
|
upper="2.87"
|
|
effort="40"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="right_shoulder_roll_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0050692009517695 0.000350652484244984 -0.102229219490617"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.291991233598522" />
|
|
<inertia
|
|
ixx="0.000420738020082048"
|
|
ixy="1.3867065503541E-06"
|
|
ixz="-9.4488534085745E-05"
|
|
iyy="0.000451637571048155"
|
|
iyz="4.71690087354637E-06"
|
|
izz="0.00032731250134499" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/right_shoulder_roll_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="package://h1_description/meshes/right_shoulder_roll_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_shoulder_roll_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0055 -0.0565000000018587 -0.0165"
|
|
rpy="0.43633231299858 0 0" />
|
|
<parent
|
|
link="right_shoulder_pitch_link" />
|
|
<child
|
|
link="right_shoulder_roll_link" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-3.11"
|
|
upper="0.34"
|
|
effort="40"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="right_shoulder_yaw_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00778534571932127 -0.000767745515027396 -0.125434157510562"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.681426758035702" />
|
|
<inertia
|
|
ixx="0.00345015704507685"
|
|
ixy="3.75079238462045E-06"
|
|
ixz="0.000348545200584949"
|
|
iyy="0.00364231385191047"
|
|
iyz="-3.07151563883643E-05"
|
|
izz="0.00043113614520676" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/right_shoulder_yaw_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="package://h1_description/meshes/right_shoulder_yaw_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_shoulder_yaw_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 -0.1343"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_shoulder_roll_link" />
|
|
<child
|
|
link="right_shoulder_yaw_link" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-4.45"
|
|
upper="1.3"
|
|
effort="15"
|
|
velocity="0" />
|
|
</joint>
|
|
|
|
<link
|
|
name="right_elbow_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.164862 -0.000118 -0.015734"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.723" />
|
|
<inertia
|
|
ixx="0.00049639"
|
|
ixy="0.000033971"
|
|
ixz="0.000316026"
|
|
iyy="0.006456355"
|
|
iyz="-0.000004929"
|
|
izz="0.006450997" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/right_elbow_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="package://h1_description/meshes/right_elbow_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_elbow_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.0185 0 -0.198"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_shoulder_yaw_link" />
|
|
<child
|
|
link="right_elbow_link" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-1.25"
|
|
upper="2.61"
|
|
effort="15"
|
|
velocity="0" />
|
|
</joint>
|
|
<link
|
|
name="right_hand_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.003993 0.000094 0"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.014" />
|
|
<inertia
|
|
ixx="0.000003449"
|
|
ixy="-0.000000006"
|
|
ixz="0"
|
|
iyy="0.000001917"
|
|
iyz="0"
|
|
izz="0.000001932" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/right_hand_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="package://h1_description/meshes/right_hand_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="right_hand_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.2605 0 -0.0185"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="right_elbow_link" />
|
|
<child
|
|
link="right_hand_link" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-3.0543261909900767596164588448551"
|
|
upper="3.0543261909900767596164588448551"
|
|
effort="7"
|
|
velocity="0" />
|
|
</joint>
|
|
|
|
<joint
|
|
name="R_base_link_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0.003 0 0"
|
|
rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
|
|
<parent link="right_hand_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="package://h1_description/meshes/R_hand_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="package://h1_description/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="package://h1_description/meshes/Link11_R.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="package://h1_description/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="package://h1_description/meshes/Link12_R.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="package://h1_description/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="package://h1_description/meshes/Link13_R.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="package://h1_description/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="package://h1_description/meshes/Link14_R.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="package://h1_description/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="package://h1_description/meshes/Link15_R.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="package://h1_description/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="package://h1_description/meshes/Link16_R.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="package://h1_description/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="package://h1_description/meshes/Link17_R.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="package://h1_description/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="package://h1_description/meshes/Link18_R.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="package://h1_description/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="package://h1_description/meshes/Link19_R.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="package://h1_description/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="package://h1_description/meshes/Link20_R.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="package://h1_description/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="package://h1_description/meshes/Link21_R.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="package://h1_description/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="package://h1_description/meshes/Link22_R.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="package://h1_description/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>
|
|
<link
|
|
name="logo_link">
|
|
<inertial>
|
|
<origin
|
|
xyz="-3.11982502935774E-09 0.00121715353088297 0.383821850968879"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.014618114050549" />
|
|
<inertia
|
|
ixx="1.19912416942028E-06"
|
|
ixy="1.09302002295816E-13"
|
|
ixz="4.27296305445089E-15"
|
|
iyy="7.5811401810277E-07"
|
|
iyz="1.59497688389296E-09"
|
|
izz="4.70855407007677E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/logo_link_gray.dae" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://h1_description/meshes/logo_link.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="logo_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="torso_link" />
|
|
<child
|
|
link="logo_link" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
</robot> |