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548 lines
16 KiB
548 lines
16 KiB
<robot name="inspire_hand_right">
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<mujoco>
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<compiler meshdir="./meshes" discardvisual="false" />
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</mujoco>
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<link name="R_hand_base_link">
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<inertial>
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<origin xyz="-0.0025264 -0.066047 0.0019598" rpy="0 0 0" />
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<mass value="0.14143" />
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<inertia ixx="0.00012281" ixy="2.1711E-06" ixz="1.7709E-06" iyy="8.3832E-05" iyz="-1.6551E-06" izz="7.6663E-05" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/R_hand_base_link.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 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/R_hand_base_link.STL" />
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</geometry>
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</collision>
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<visual>
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<origin xyz="0.075 0 0" rpy="0 -1.5708 0"/>
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<geometry>
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<cylinder length="0.15" radius="0.004"/>
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</geometry>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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</visual>
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<visual>
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<origin xyz="0.15 0 0" rpy="0 -1.5708 0"/>
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<geometry>
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<sphere radius="0.015"/>
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</geometry>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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</visual>
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<visual>
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<origin xyz="0 0.075 0" rpy="1.5708 0 0"/>
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<geometry>
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<cylinder length="0.15" radius="0.004"/>
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</geometry>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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<visual>
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<origin xyz="0 0.15 0" rpy="1.5708 0 0"/>
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<geometry>
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<sphere radius="0.015"/>
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</geometry>
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<material name="green">
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<color rgba="0 1 0 1"/>
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</material>
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</visual>
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<visual>
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<origin xyz="0 0 0.075" rpy="0 0 0"/>
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<geometry>
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<cylinder length="0.15" radius="0.004"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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<visual>
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<origin xyz="0 0 0.15" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.015"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 1 1"/>
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</material>
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</visual>
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</link>
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<link name="R_thumb_proximal_base">
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<inertial>
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<origin xyz="-0.0048064 0.0009382 -0.00757" rpy="0 0 0" />
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<mass value="0.0018869" />
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<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" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link11_R.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link11_R.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_thumb_proximal_yaw_joint" type="revolute">
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<origin xyz="-0.01696 -0.0691 -0.02045" rpy="1.5708 -1.5708 0" />
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<parent link="R_hand_base_link" />
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<child link="R_thumb_proximal_base" />
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<axis xyz="0 0 -1" />
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<limit lower="-0.1" upper="1.3" effort="1" velocity="0.5" />
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</joint>
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<link name="R_thumb_proximal">
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<inertial>
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<origin xyz="0.021932 0.012785 -0.0080386" rpy="0 0 0" />
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<mass value="0.0066075" />
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<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" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link12_R.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link12_R.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_thumb_proximal_pitch_joint" type="revolute">
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<origin xyz="-0.0088099 0.010892 -0.00925" rpy="1.5708 0 2.8587" />
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<parent link="R_thumb_proximal_base" />
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<child link="R_thumb_proximal" />
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<axis xyz="0 0 1" />
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<limit lower="0.0" upper="0.5" effort="1" velocity="0.5" />
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</joint>
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<link name="R_thumb_intermediate">
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<inertial>
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<origin xyz="0.0095544 -0.0016282 -0.0071997" rpy="0 0 0" />
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<mass value="0.0037847" />
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<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" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link13_R.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link13_R.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_thumb_intermediate_joint" type="revolute">
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<origin xyz="0.04407 0.034553 -0.0008" rpy="0 0 0" />
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<parent link="R_thumb_proximal" />
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<child link="R_thumb_intermediate" />
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<axis xyz="0 0 1" />
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<limit lower="0" upper="0.8" effort="1" velocity="0.5" />
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<mimic joint="R_thumb_proximal_pitch_joint" multiplier="1.6" offset="0" />
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</joint>
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<link name="R_thumb_distal">
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<inertial>
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<origin xyz="0.0092888 0.0049529 -0.0060033" rpy="0 0 0" />
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<mass value="0.0033441" />
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<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" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link14_R.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link14_R.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_thumb_distal_joint" type="revolute">
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<origin xyz="0.020248 0.010156 -0.0012" rpy="0 0 0" />
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<parent link="R_thumb_intermediate" />
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<child link="R_thumb_distal" />
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<axis xyz="0 0 1" />
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<limit lower="0" upper="1.2" effort="1" velocity="0.5" />
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<mimic joint="R_thumb_proximal_pitch_joint" multiplier="2.4" offset="0" />
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</joint>
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<link name="R_thumb_tip">
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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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<sphere radius="0.005"/>
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</geometry>
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<material name="red">
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<color rgba="1 0 0 1" />
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</material>
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</visual>
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</link>
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<joint name="R_thumb_tip_joint" type="fixed">
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<parent link="R_thumb_distal"/>
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<child link="R_thumb_tip"/>
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<origin rpy="0 0 0" xyz="0.015 0.013 -0.004"/>
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</joint>
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<link name="R_index_proximal">
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<inertial>
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<origin xyz="0.0012259 0.011942 -0.0060001" rpy="0 0 0" />
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<mass value="0.0042403" />
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<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" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link15_R.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link15_R.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_index_proximal_joint" type="revolute">
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<origin xyz="0.00028533 -0.13653 -0.032268" rpy="-3.1067 0 0" />
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<parent link="R_hand_base_link" />
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<child link="R_index_proximal" />
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<axis xyz="0 0 1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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</joint>
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<link name="R_index_intermediate">
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<inertial>
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<origin xyz="0.0019697 0.019589 -0.005" rpy="0 0 0" />
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<mass value="0.0045683" />
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<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" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link16_R.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link16_R.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_index_intermediate_joint" type="revolute">
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<origin xyz="-0.0026138 0.032026 -0.001" rpy="0 0 0" />
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<parent link="R_index_proximal" />
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<child link="R_index_intermediate" />
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<axis xyz="0 0 1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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<mimic joint="R_index_proximal_joint" multiplier="1" offset="0" />
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</joint>
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<link name="R_index_tip">
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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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<sphere radius="0.005"/>
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</geometry>
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<material name="green">
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<color rgba="0 1 0 1" />
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</material>
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</visual>
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</link>
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<joint name="R_index_tip_joint" type="fixed">
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<parent link="R_index_intermediate"/>
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<child link="R_index_tip"/>
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<origin rpy="0 0 0" xyz="-0.005 0.04 -0.004"/>
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</joint>
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<link name="R_middle_proximal">
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<inertial>
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<origin xyz="0.001297 0.011934 -0.0060001" rpy="0 0 0" />
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<mass value="0.0042403" />
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<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" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link17_R.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link17_R.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_middle_proximal_joint" type="revolute">
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<origin xyz="0.00028533 -0.1371 -0.01295" rpy="-3.1416 0 0" />
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<parent link="R_hand_base_link" />
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<child link="R_middle_proximal" />
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<axis xyz="0 0 1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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</joint>
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<link name="R_middle_intermediate">
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<inertial>
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<origin xyz="0.001921 0.020796 -0.005" rpy="0 0 0" />
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<mass value="0.0050396" />
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<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" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link18_R.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="./meshes/Link18_R.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_middle_intermediate_joint" type="revolute">
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<origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0" />
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<parent link="R_middle_proximal" />
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<child link="R_middle_intermediate" />
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<axis xyz="0 0 1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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<mimic joint="R_middle_proximal_joint" multiplier="1" offset="0" />
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</joint>
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<link name="R_middle_tip">
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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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<sphere radius="0.005"/>
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</geometry>
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<material name="blue">
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<color rgba="0 0 1 1" />
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</material>
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</visual>
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</link>
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<joint name="R_middle_tip_joint" type="fixed">
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<parent link="R_middle_intermediate"/>
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<child link="R_middle_tip"/>
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<origin rpy="0 0 0" xyz="-0.005 0.045 -0.004"/>
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</joint>
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<link name="R_ring_proximal">
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<inertial>
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<origin xyz="0.001297 0.011934 -0.0060002" rpy="0 0 0" />
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<mass value="0.0042403" />
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|
<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" />
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</inertial>
|
|
<visual>
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|
<origin xyz="0 0 0" rpy="0 0 0" />
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|
<geometry>
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<mesh filename="./meshes/Link19_R.STL" />
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</geometry>
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<material name="">
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<color rgba="1.0 1.0 1.0 1" />
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</material>
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|
</visual>
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|
<collision>
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|
<origin xyz="0 0 0" rpy="0 0 0" />
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|
<geometry>
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<mesh filename="./meshes/Link19_R.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="R_ring_proximal_joint" type="revolute">
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<origin xyz="0.00028533 -0.13691 0.0062872" rpy="3.0892 0 0" />
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<parent link="R_hand_base_link" />
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<child link="R_ring_proximal" />
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<axis xyz="0 0 1" />
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<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
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</joint>
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|
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<link name="R_ring_intermediate">
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|
<inertial>
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|
<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" />
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|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link20_R.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1.0 1.0 1.0 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link20_R.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="R_ring_intermediate_joint" type="revolute">
|
|
<origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0" />
|
|
<parent link="R_ring_proximal" />
|
|
<child link="R_ring_intermediate" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
|
|
<mimic joint="R_ring_proximal_joint" multiplier="1" offset="0" />
|
|
</joint>
|
|
|
|
<link name="R_ring_tip">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.005"/>
|
|
</geometry>
|
|
<material name="cyan">
|
|
<color rgba="0 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="R_ring_tip_joint" type="fixed">
|
|
<parent link="R_ring_intermediate"/>
|
|
<child link="R_ring_tip"/>
|
|
<origin rpy="0 0 0" xyz="-0.002 0.04 -0.004"/>
|
|
</joint>
|
|
|
|
<link name="R_pinky_proximal">
|
|
<inertial>
|
|
<origin xyz="0.001297 0.011934 -0.0060001" rpy="0 0 0" />
|
|
<mass value="0.0042403" />
|
|
<inertia ixx="6.6211E-07" ixy="-1.8461E-08" ixz="1.6907E-12" iyy="2.1167E-07" iyz="-6.9334E-12" izz="6.9397E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link21_R.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1.0 1.0 1.0 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link21_R.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="R_pinky_proximal_joint" type="revolute">
|
|
<origin xyz="0.00028533 -0.13571 0.025488" rpy="3.0369 0 0" />
|
|
<parent link="R_hand_base_link" />
|
|
<child link="R_pinky_proximal" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
|
|
</joint>
|
|
|
|
<link name="R_pinky_intermediate">
|
|
<inertial>
|
|
<origin xyz="0.0024748 0.016203 -0.0050031" rpy="0 0 0" />
|
|
<mass value="0.0035996" />
|
|
<inertia ixx="4.3913E-07" ixy="4.1418E-08" ixz="3.7168E-11" iyy="7.0247E-08" iyz="5.8613E-11" izz="4.4867E-07" />
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link22_R.STL" />
|
|
</geometry>
|
|
<material name="">
|
|
<color rgba="1.0 1.0 1.0 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="./meshes/Link22_R.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="R_pinky_intermediate_joint" type="revolute">
|
|
<origin xyz="-0.0024229 0.032041 -0.001" rpy="0 0 0" />
|
|
<parent link="R_pinky_proximal" />
|
|
<child link="R_pinky_intermediate" />
|
|
<axis xyz="0 0 1" />
|
|
<limit lower="0" upper="1.7" effort="1" velocity="0.5" />
|
|
<mimic joint="R_pinky_proximal_joint" multiplier="1" offset="0" />
|
|
</joint>
|
|
|
|
<link name="R_pinky_tip">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<sphere radius="0.005"/>
|
|
</geometry>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1" />
|
|
</material>
|
|
</visual>
|
|
</link>
|
|
<joint name="R_pinky_tip_joint" type="fixed">
|
|
<parent link="R_pinky_intermediate"/>
|
|
<child link="R_pinky_tip"/>
|
|
<origin rpy="0 0 0" xyz="-0.002 0.032 -0.004"/>
|
|
</joint>
|
|
</robot>
|