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819 lines
18 KiB
819 lines
18 KiB
<robot
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name="h1">
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<link name="L_hand_base_link">
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|
<inertial>
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|
<origin
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|
xyz="-0.002551 -0.066047 -0.0019357"
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|
rpy="0 0 0" />
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|
<mass
|
|
value="0.14143" />
|
|
<inertia
|
|
ixx="0.0001234"
|
|
ixy="2.1995E-06"
|
|
ixz="-1.7694E-06"
|
|
iyy="8.3835E-05"
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|
iyz="1.5968E-06"
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|
izz="7.7231E-05" />
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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="./meshes/L_hand_base_link.STL" />
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|
</geometry>
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|
<material name="">
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<color rgba="0.1 0.1 0.1 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 filename="./meshes/L_hand_base_link.STL" />
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</geometry>
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|
</collision>
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|
</link>
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<link name="L_thumb_proximal_base">
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|
<inertial>
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|
<origin
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|
xyz="0.0048817 0.00038782 -0.00722"
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rpy="0 0 0" />
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|
<mass
|
|
value="0.0018869" />
|
|
<inertia
|
|
ixx="5.5158E-08"
|
|
ixy="-1.1803E-08"
|
|
ixz="-4.6743E-09"
|
|
iyy="8.2164E-08"
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|
iyz="-1.3521E-09"
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|
izz="6.7434E-08" />
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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="./meshes/Link11_L.STL" />
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|
</geometry>
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|
<material name="">
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<color rgba="0.1 0.1 0.1 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>
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<mesh filename="./meshes/Link11_L.STL" />
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</geometry>
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</collision>
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|
</link>
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|
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|
<joint
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name="L_thumb_proximal_yaw_joint"
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|
type="revolute">
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|
<origin
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|
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" />
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|
<axis
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xyz="0 0 1" />
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|
<limit
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lower="-0.1"
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upper="1.3"
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effort="1"
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velocity="0.5" />
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</joint>
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<link name="L_thumb_proximal">
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<inertial>
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<origin
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xyz="0.021936 -0.01279 -0.0080386"
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|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0066101" />
|
|
<inertia
|
|
ixx="1.5693E-06"
|
|
ixy="7.8339E-07"
|
|
ixz="8.5959E-10"
|
|
iyy="1.7356E-06"
|
|
iyz="1.0378E-09"
|
|
izz="2.787E-06" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link12_L.STL" />
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|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
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|
</material>
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|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link12_L.STL" />
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</geometry>
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</collision>
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|
</link>
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|
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<joint
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name="L_thumb_proximal_pitch_joint"
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type="revolute">
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<origin
|
|
xyz="0.0099867 0.0098242 -0.0089"
|
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rpy="-1.5708 0 0.16939" />
|
|
<parent
|
|
link="L_thumb_proximal_base" />
|
|
<child
|
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link="L_thumb_proximal" />
|
|
<axis
|
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xyz="0 0 -1" />
|
|
<limit
|
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lower="0.0"
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upper="0.5"
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effort="1"
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velocity="0.5" />
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</joint>
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|
|
<link name="L_thumb_intermediate">
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|
<inertial>
|
|
<origin
|
|
xyz="0.0095531 0.0016282 -0.0072002"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0037844" />
|
|
<inertia
|
|
ixx="3.6981E-07"
|
|
ixy="9.8603E-08"
|
|
ixz="-2.8173E-12"
|
|
iyy="3.2395E-07"
|
|
iyz="-2.8028E-12"
|
|
izz="4.6532E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link13_L.STL" />
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|
</geometry>
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|
<material name="">
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|
<color rgba="0.1 0.1 0.1 1" />
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|
</material>
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|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
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<mesh filename="./meshes/Link13_L.STL" />
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</geometry>
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|
</collision>
|
|
</link>
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|
|
|
<joint
|
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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"
|
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multiplier="1.6"
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|
offset="0" />
|
|
</joint>
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|
|
|
<link name="L_thumb_distal">
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<inertial>
|
|
<origin
|
|
xyz="0.0092888 -0.004953 -0.0060033"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.003344" />
|
|
<inertia
|
|
ixx="1.3632E-07"
|
|
ixy="5.6787E-08"
|
|
ixz="-9.1939E-11"
|
|
iyy="1.4052E-07"
|
|
iyz="1.2145E-10"
|
|
izz="2.0026E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link14_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link14_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_thumb_distal_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.020248 -0.010156 -0.0012"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_thumb_intermediate" />
|
|
<child
|
|
link="L_thumb_distal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.2"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
<mimic
|
|
joint="L_thumb_proximal_pitch_joint"
|
|
multiplier="2.4"
|
|
offset="0" />
|
|
</joint>
|
|
|
|
<link name="L_index_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0012971 -0.011934 -0.0059998"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0042405" />
|
|
<inertia
|
|
ixx="6.6215E-07"
|
|
ixy="1.8442E-08"
|
|
ixz="1.3746E-12"
|
|
iyy="2.1167E-07"
|
|
iyz="-1.4773E-11"
|
|
izz="6.9402E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link15_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link15_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<link name="L_thumb_tip">
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.005"/>
|
|
</geometry>
|
|
<material name="green">
|
|
<color rgba="0 1 0 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="L_thumb_tip_joint" type="fixed">
|
|
<parent link="L_thumb_distal"/>
|
|
<child link="L_thumb_tip"/>
|
|
<origin rpy="0 0 0" xyz="0.015 -0.013 -0.004"/>
|
|
</joint>
|
|
|
|
<joint
|
|
name="L_index_proximal_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00028533 -0.13653 0.032268"
|
|
rpy="-0.034907 0 0" />
|
|
<parent
|
|
link="L_hand_base_link" />
|
|
<child
|
|
link="L_index_proximal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="L_index_intermediate">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0021753 -0.019567 -0.005"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0045682" />
|
|
<inertia
|
|
ixx="7.6284E-07"
|
|
ixy="-8.063E-08"
|
|
ixz="3.6797E-13"
|
|
iyy="9.4308E-08"
|
|
iyz="1.5743E-13"
|
|
izz="7.8176E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link16_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link16_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_index_intermediate_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0024229 -0.032041 -0.001"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_index_proximal" />
|
|
<child
|
|
link="L_index_intermediate" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
<mimic
|
|
joint="L_index_proximal_joint"
|
|
multiplier="1"
|
|
offset="0" />
|
|
</joint>
|
|
|
|
<link name="L_index_tip">
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.005"/>
|
|
</geometry>
|
|
<material name="green">
|
|
<color rgba="0 1 0 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="L_index_tip_joint" type="fixed">
|
|
<parent link="L_index_intermediate"/>
|
|
<child link="L_index_tip"/>
|
|
<origin rpy="0 0 0" xyz="-0.005 -0.04 -0.004"/>
|
|
</joint>
|
|
|
|
<link name="L_middle_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0012971 -0.011934 -0.0059999"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0042405" />
|
|
<inertia
|
|
ixx="6.6215E-07"
|
|
ixy="1.8442E-08"
|
|
ixz="1.2299E-12"
|
|
iyy="2.1167E-07"
|
|
iyz="-1.4484E-11"
|
|
izz="6.9402E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link17_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link17_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_middle_proximal_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00028533 -0.1371 0.01295"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_hand_base_link" />
|
|
<child
|
|
link="L_middle_proximal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="L_middle_intermediate">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.001921 -0.020796 -0.0049999"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0050397" />
|
|
<inertia
|
|
ixx="9.5823E-07"
|
|
ixy="-1.1425E-07"
|
|
ixz="-2.4186E-12"
|
|
iyy="1.0646E-07"
|
|
iyz="3.6974E-12"
|
|
izz="9.8385E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link18_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link18_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_middle_intermediate_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0024229 -0.032041 -0.001"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_middle_proximal" />
|
|
<child
|
|
link="L_middle_intermediate" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
<mimic
|
|
joint="L_middle_proximal_joint"
|
|
multiplier="1"
|
|
offset="0" />
|
|
</joint>
|
|
|
|
<link name="L_middle_tip">
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.005"/>
|
|
</geometry>
|
|
<material name="green">
|
|
<color rgba="0 1 0 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="L_middle_tip_joint" type="fixed">
|
|
<parent link="L_middle_intermediate"/>
|
|
<child link="L_middle_tip"/>
|
|
<origin rpy="0 0 0" xyz="-0.005 -0.045 -0.004"/>
|
|
</joint>
|
|
|
|
<link name="L_ring_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0012971 -0.011934 -0.0059999"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0042405" />
|
|
<inertia
|
|
ixx="6.6215E-07"
|
|
ixy="1.8442E-08"
|
|
ixz="9.6052E-13"
|
|
iyy="2.1167E-07"
|
|
iyz="-1.4124E-11"
|
|
izz="6.9402E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link19_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link19_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_ring_proximal_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00028533 -0.13691 -0.0062872"
|
|
rpy="0.05236 0 0" />
|
|
<parent
|
|
link="L_hand_base_link" />
|
|
<child
|
|
link="L_ring_proximal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="L_ring_intermediate">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0021753 -0.019567 -0.005"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0045682" />
|
|
<inertia
|
|
ixx="7.6285E-07"
|
|
ixy="-8.0631E-08"
|
|
ixz="3.3472E-14"
|
|
iyy="9.4308E-08"
|
|
iyz="-4.4773E-13"
|
|
izz="7.8176E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link20_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link20_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_ring_intermediate_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0024229 -0.032041 -0.001"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_ring_proximal" />
|
|
<child
|
|
link="L_ring_intermediate" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
<mimic
|
|
joint="L_ring_proximal_joint"
|
|
multiplier="1"
|
|
offset="0" />
|
|
</joint>
|
|
|
|
<link name="L_ring_tip">
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.005"/>
|
|
</geometry>
|
|
<material name="green">
|
|
<color rgba="0 1 0 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="L_ring_tip_joint" type="fixed">
|
|
<parent link="L_ring_intermediate"/>
|
|
<child link="L_ring_tip"/>
|
|
<origin rpy="0 0 0" xyz="-0.002 -0.04 -0.004"/>
|
|
</joint>
|
|
|
|
<link name="L_pinky_proximal">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0012971 -0.011934 -0.0059999"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0042405" />
|
|
<inertia
|
|
ixx="6.6215E-07"
|
|
ixy="1.8442E-08"
|
|
ixz="1.0279E-12"
|
|
iyy="2.1167E-07"
|
|
iyz="-1.4277E-11"
|
|
izz="6.9402E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link21_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link21_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_pinky_proximal_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.00028533 -0.13571 -0.025488"
|
|
rpy="0.10472 0 0" />
|
|
<parent
|
|
link="L_hand_base_link" />
|
|
<child
|
|
link="L_pinky_proximal" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="L_pinky_intermediate">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0024788 -0.016208 -0.0050001"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.0036036" />
|
|
<inertia
|
|
ixx="4.3923E-07"
|
|
ixy="-4.1355E-08"
|
|
ixz="1.2263E-12"
|
|
iyy="7.0315E-08"
|
|
iyz="3.1311E-12"
|
|
izz="4.4881E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link22_L.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="0.1 0.1 0.1 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link22_L.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint
|
|
name="L_pinky_intermediate_joint"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0024229 -0.032041 -0.001"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="L_pinky_proximal" />
|
|
<child
|
|
link="L_pinky_intermediate" />
|
|
<axis
|
|
xyz="0 0 -1" />
|
|
<limit
|
|
lower="0"
|
|
upper="1.7"
|
|
effort="1"
|
|
velocity="0.5" />
|
|
<mimic
|
|
joint="L_pinky_proximal_joint"
|
|
multiplier="1"
|
|
offset="0" />
|
|
</joint>
|
|
|
|
<link name="L_pinky_tip">
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.005"/>
|
|
</geometry>
|
|
<material name="green">
|
|
<color rgba="0 1 0 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="L_pinky_tip_joint" type="fixed">
|
|
<parent link="L_pinky_intermediate"/>
|
|
<child link="L_pinky_tip"/>
|
|
<origin rpy="0 0 0" xyz="-0.002 -0.032 -0.004"/>
|
|
</joint>
|
|
|
|
</robot>
|