| <?xml version='1.0' encoding='UTF-8'?> |
| <robot name="Left_Hand"> |
|
|
| <link name="left_0_link"> |
| <inertial> |
| <origin xyz="0.042305312 -0.004043007 0.000512681" rpy="0 0 0"/> |
| <mass value="0.290"/> |
| <inertia ixx="0.00011532247604" ixy="-0.00001043703301" ixz="-0.00000106118401" iyy="0.00025808227182" iyz="0.00000055201000" izz="0.00017734342973"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_0_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_0_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_11_joint" type="revolute"> |
| <origin xyz="0.0124 -0.0155 0.013" rpy="0 0 0"/> |
| <parent link="left_0_link"/> |
| <child link="left_11_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="0.7330382858" effort="2.5" velocity="6"/> |
| </joint> |
|
|
| <link name="left_11_link"> |
| <inertial> |
| <origin xyz="0.00207796031 -0.01830439986 0.00000014629" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000105135873" ixy="0.00000011908877" ixz="0.00000000000229" iyy="0.00000024729545" iyz="0.00000000000194" izz="0.00000105765629"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_11_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_11_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_12_joint" type="revolute"> |
| <origin xyz="0.00504205393 -0.03357267022 0" rpy="0 0 0"/> |
| <parent link="left_11_link"/> |
| <child link="left_12_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="0" upper="1.8325957145" effort="2.5" velocity="6"/> |
| </joint> |
|
|
| <link name="left_12_link"> |
| <inertial> |
| <origin xyz="0.00782940540 -0.01515110326 0.00000051626" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000067874834" ixy="0.00000030731532" ixz="-0.00000000000629" iyy="0.00000039818742" iyz="-0.00000000003269" izz="0.00000084284466"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_12_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_12_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_21_joint" type="revolute"> |
| <origin xyz="0.0789 -0.0015 0.027" rpy="0 0 0"/> |
| <parent link="left_0_link"/> |
| <child link="left_21_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-1.5358897417" upper="0" effort="0.5" velocity="8"/> |
| </joint> |
|
|
| <link name="left_21_link"> |
| <inertial> |
| <origin xyz="0.01830440078 -0.00207796014 -0.00000014715" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000024729544" ixy="0.00000011908874" ixz="0.00000000000198" iyy="0.00000105135862" iyz="0.00000000000230" izz="0.00000105765614"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_21_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_21_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_22_joint" type="revolute"> |
| <origin xyz="0.03357267022 -0.00504205393 0" rpy="0 0 0"/> |
| <parent link="left_21_link"/> |
| <child link="left_22_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-1.8325957145" upper="0" effort="0.5" velocity="8"/> |
| </joint> |
|
|
| <link name="left_22_link"> |
| <inertial> |
| <origin xyz="0.01515110677 -0.00782940721 -0.00000051457" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000039818751" ixy="0.00000030731545" ixz="-0.00000000003261 " iyy="0.00000067874841" iyz="-0.00000000000631" izz="0.00000084284490"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_22_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_22_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_31_joint" type="revolute"> |
| <origin xyz="0.0844 -0.0015 0.009" rpy="0 0 0"/> |
| <parent link="left_0_link"/> |
| <child link="left_31_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-1.5358897417" upper="0" effort="0.5" velocity="8"/> |
| </joint> |
|
|
| <link name="left_31_link"> |
| <inertial> |
| <origin xyz="0.01830440078 -0.00207796014 -0.00000014715" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000024729544" ixy="0.00000011908874" ixz="0.00000000000198" iyy="0.00000105135862" iyz="0.00000000000230" izz="0.00000105765614"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_31_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_31_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_32_joint" type="revolute"> |
| <origin xyz="0.03357267022 -0.00504205393 0" rpy="0 0 0"/> |
| <parent link="left_31_link"/> |
| <child link="left_32_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-1.8325957145" upper="0" effort="0.5" velocity="8"/> |
| </joint> |
|
|
| <link name="left_32_link"> |
| <inertial> |
| <origin xyz="0.01515110677 -0.00782940721 -0.00000051457" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000039818751" ixy="0.00000030731545" ixz="-0.00000000003261 " iyy="0.00000067874841" iyz="-0.00000000000631" izz="0.00000084284490"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_32_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_32_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_41_joint" type="revolute"> |
| <origin xyz="0.0819 -0.0015 -0.009" rpy="0 0 0"/> |
| <parent link="left_0_link"/> |
| <child link="left_41_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-1.5358897417" upper="0" effort="0.5" velocity="8"/> |
| </joint> |
|
|
| <link name="left_41_link"> |
| <inertial> |
| <origin xyz="0.01830440078 -0.00207796014 -0.00000014715" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000024729544" ixy="0.00000011908874" ixz="0.00000000000198" iyy="0.00000105135862" iyz="0.00000000000230" izz="0.00000105765614"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_41_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_41_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_42_joint" type="revolute"> |
| <origin xyz="0.03357267022 -0.00504205393 0" rpy="0 0 0"/> |
| <parent link="left_41_link"/> |
| <child link="left_42_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-1.8325957145" upper="0" effort="0.5" velocity="8"/> |
| </joint> |
|
|
| <link name="left_42_link"> |
| <inertial> |
| <origin xyz="0.01515110677 -0.00782940721 -0.00000051457" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000039818751" ixy="0.00000030731545" ixz="-0.00000000003261 " iyy="0.00000067874841" iyz="-0.00000000000631" izz="0.00000084284490"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_42_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_42_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_51_joint" type="revolute"> |
| <origin xyz="0.0774 -0.0015 -0.027" rpy="0 0 0"/> |
| <parent link="left_0_link"/> |
| <child link="left_51_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-1.5358897417" upper="0" effort="0.5" velocity="8"/> |
| </joint> |
|
|
| <link name="left_51_link"> |
| <inertial> |
| <origin xyz="0.01830440078 -0.00207796014 -0.00000014715" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000024729544" ixy="0.00000011908874" ixz="0.00000000000198" iyy="0.00000105135862" iyz="0.00000000000230" izz="0.00000105765614"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_51_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_51_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| <joint name="left_52_joint" type="revolute"> |
| <origin xyz="0.03357267022 -0.00504205393 0" rpy="0 0 0"/> |
| <parent link="left_51_link"/> |
| <child link="left_52_link"/> |
| <axis xyz="0 0 1"/> |
| <limit lower="-1.8325957145" upper="0" effort="0.5" velocity="8"/> |
| </joint> |
|
|
| <link name="left_52_link"> |
| <inertial> |
| <origin xyz="0.01515110677 -0.00782940721 -0.00000051457" rpy="0 0 0"/> |
| <mass value="0.0075"/> |
| <inertia ixx="0.00000039818751" ixy="0.00000030731545" ixz="-0.00000000003261 " iyy="0.00000067874841" iyz="-0.00000000000631" izz="0.00000084284490"/> |
| </inertial> |
| <visual> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_52_link.STL"/> |
| </geometry> |
| <material name="white"> |
| <color rgba="0.7 0.7 0.7 1"/> |
| </material> |
| </visual> |
| <collision> |
| <origin xyz="0 0 0" rpy="0 0 0"/> |
| <geometry> |
| <mesh filename="../../../sources/unitree_ros/robots/dexterous_hand_description/dex2_5/meshes/left_52_link.STL"/> |
| </geometry> |
| </collision> |
| </link> |
|
|
| </robot> |
|
|
