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  1. public/urdf/g1/g1_body29_hand14.urdf +0 -1476
  2. public/urdf/g1/meshes/head_link.STL +0 -3
  3. public/urdf/g1/meshes/head_link.stl +0 -3
  4. public/urdf/g1/meshes/left_ankle_pitch_link.STL +0 -0
  5. public/urdf/g1/meshes/left_ankle_pitch_link.stl +0 -3
  6. public/urdf/g1/meshes/left_ankle_roll_link.STL +0 -3
  7. public/urdf/g1/meshes/left_ankle_roll_link.stl +0 -3
  8. public/urdf/g1/meshes/left_elbow_link.STL +0 -0
  9. public/urdf/g1/meshes/left_elbow_link.stl +0 -3
  10. public/urdf/g1/meshes/left_elbow_link_merge.STL +0 -3
  11. public/urdf/g1/meshes/left_elbow_link_merge.stl +0 -3
  12. public/urdf/g1/meshes/left_hand_index_0_link.STL +0 -3
  13. public/urdf/g1/meshes/left_hand_index_0_link.stl +0 -3
  14. public/urdf/g1/meshes/left_hand_index_1_link.STL +0 -3
  15. public/urdf/g1/meshes/left_hand_index_1_link.stl +0 -3
  16. public/urdf/g1/meshes/left_hand_middle_0_link.STL +0 -3
  17. public/urdf/g1/meshes/left_hand_middle_0_link.stl +0 -3
  18. public/urdf/g1/meshes/left_hand_middle_1_link.STL +0 -3
  19. public/urdf/g1/meshes/left_hand_middle_1_link.stl +0 -3
  20. public/urdf/g1/meshes/left_hand_palm_link.STL +0 -3
  21. public/urdf/g1/meshes/left_hand_palm_link.stl +0 -3
  22. public/urdf/g1/meshes/left_hand_thumb_0_link.STL +0 -0
  23. public/urdf/g1/meshes/left_hand_thumb_0_link.stl +0 -3
  24. public/urdf/g1/meshes/left_hand_thumb_1_link.STL +0 -3
  25. public/urdf/g1/meshes/left_hand_thumb_1_link.stl +0 -3
  26. public/urdf/g1/meshes/left_hand_thumb_2_link.STL +0 -3
  27. public/urdf/g1/meshes/left_hand_thumb_2_link.stl +0 -3
  28. public/urdf/g1/meshes/left_hip_pitch_link.STL +0 -3
  29. public/urdf/g1/meshes/left_hip_pitch_link.stl +0 -3
  30. public/urdf/g1/meshes/left_hip_roll_link.STL +0 -3
  31. public/urdf/g1/meshes/left_hip_roll_link.stl +0 -3
  32. public/urdf/g1/meshes/left_hip_yaw_link.STL +0 -3
  33. public/urdf/g1/meshes/left_hip_yaw_link.stl +0 -3
  34. public/urdf/g1/meshes/left_knee_link.STL +0 -3
  35. public/urdf/g1/meshes/left_knee_link.stl +0 -3
  36. public/urdf/g1/meshes/left_rubber_hand.STL +0 -3
  37. public/urdf/g1/meshes/left_rubber_hand.stl +0 -3
  38. public/urdf/g1/meshes/left_shoulder_pitch_link.STL +0 -3
  39. public/urdf/g1/meshes/left_shoulder_pitch_link.stl +0 -3
  40. public/urdf/g1/meshes/left_shoulder_roll_link.STL +0 -3
  41. public/urdf/g1/meshes/left_shoulder_roll_link.stl +0 -3
  42. public/urdf/g1/meshes/left_shoulder_yaw_link.STL +0 -3
  43. public/urdf/g1/meshes/left_shoulder_yaw_link.stl +0 -3
  44. public/urdf/g1/meshes/left_wrist_pitch_link.STL +0 -0
  45. public/urdf/g1/meshes/left_wrist_pitch_link.stl +0 -3
  46. public/urdf/g1/meshes/left_wrist_roll_link.STL +0 -3
  47. public/urdf/g1/meshes/left_wrist_roll_link.stl +0 -3
  48. public/urdf/g1/meshes/left_wrist_roll_rubber_hand.STL +0 -3
  49. public/urdf/g1/meshes/left_wrist_roll_rubber_hand.stl +0 -3
  50. public/urdf/g1/meshes/left_wrist_yaw_link.STL +0 -3
public/urdf/g1/g1_body29_hand14.urdf DELETED
@@ -1,1476 +0,0 @@
1
- <robot name="g1">
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- <mujoco>
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- <compiler meshdir="meshes" discardvisual="false"/>
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- </mujoco>
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-
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- <!-- [CAUTION] uncomment when convert to mujoco -->
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- <!-- <link name="world"></link>
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- <joint name="floating_base_joint" type="floating">
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- <parent link="world"/>
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- <child link="pelvis"/>
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- </joint> -->
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-
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- <link name="pelvis">
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- <inertial>
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- <origin xyz="0 0 -0.07605" rpy="0 0 0"/>
16
- <mass value="3.813"/>
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- <inertia ixx="0.010549" ixy="0" ixz="2.1E-06" iyy="0.0093089" iyz="0" izz="0.0079184"/>
18
- </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/pelvis.stl"/>
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- </geometry>
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- <material name="dark">
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- <color rgba="0.2 0.2 0.2 1"/>
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- </material>
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- </visual>
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- </link>
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- <link name="pelvis_contour_link">
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- <inertial>
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- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <mass value="0.001"/>
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- <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
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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/pelvis_contour_link.stl"/>
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- </geometry>
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- <material name="white">
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- <color rgba="0.7 0.7 0.7 1"/>
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- </material>
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- </visual>
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- <collision>
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- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
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- <mesh filename="meshes/pelvis_contour_link.stl"/>
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- </geometry>
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- </collision>
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- </link>
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- <joint name="pelvis_contour_joint" type="fixed">
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- <parent link="pelvis"/>
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- <child link="pelvis_contour_link"/>
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- </joint>
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-
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- <!-- Legs -->
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- <link name="left_hip_pitch_link">
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- <inertial>
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- <origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
60
- <mass value="1.35"/>
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- <inertia ixx="0.001811" ixy="3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812"/>
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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/left_hip_pitch_link.stl"/>
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- </geometry>
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- <material name="dark">
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- <color rgba="0.2 0.2 0.2 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/left_hip_pitch_link.stl"/>
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- </geometry>
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- </collision>
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- </link>
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- <joint name="left_hip_pitch_joint" type="revolute">
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- <origin xyz="0 0.064452 -0.1027" rpy="0 0 0"/>
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- <parent link="pelvis"/>
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- <child link="left_hip_pitch_link"/>
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- <axis xyz="0 1 0"/>
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- <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
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- </joint>
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- <link name="left_hip_roll_link">
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- <inertial>
88
- <origin xyz="0.029812 -0.001045 -0.087934" rpy="0 0 0"/>
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- <mass value="1.52"/>
90
- <inertia ixx="0.0023773" ixy="-3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84E-05" izz="0.0016595"/>
91
- </inertial>
92
- <visual>
93
- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
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- <mesh filename="meshes/left_hip_roll_link.stl"/>
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- </geometry>
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- <material name="white">
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- <color rgba="0.7 0.7 0.7 1"/>
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- </material>
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- </visual>
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- <collision>
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- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
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- <mesh filename="meshes/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 name="left_hip_roll_joint" type="revolute">
109
- <origin xyz="0 0.052 -0.030465" rpy="0 -0.1749 0"/>
110
- <parent link="left_hip_pitch_link"/>
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- <child link="left_hip_roll_link"/>
112
- <axis xyz="1 0 0"/>
113
- <limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
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- </joint>
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- <link name="left_hip_yaw_link">
116
- <inertial>
117
- <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0 0 0"/>
118
- <mass value="1.702"/>
119
- <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149"/>
120
- </inertial>
121
- <visual>
122
- <origin xyz="0 0 0" rpy="0 0 0"/>
123
- <geometry>
124
- <mesh filename="meshes/left_hip_yaw_link.stl"/>
125
- </geometry>
126
- <material name="white">
127
- <color rgba="0.7 0.7 0.7 1"/>
128
- </material>
129
- </visual>
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- <collision>
131
- <origin xyz="0 0 0" rpy="0 0 0"/>
132
- <geometry>
133
- <mesh filename="meshes/left_hip_yaw_link.stl"/>
134
- </geometry>
135
- </collision>
136
- </link>
137
- <joint name="left_hip_yaw_joint" type="revolute">
138
- <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
139
- <parent link="left_hip_roll_link"/>
140
- <child link="left_hip_yaw_link"/>
141
- <axis xyz="0 0 1"/>
142
- <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
143
- </joint>
144
- <link name="left_knee_link">
145
- <inertial>
146
- <origin xyz="0.005457 0.003964 -0.12074" rpy="0 0 0"/>
147
- <mass value="1.932"/>
148
- <inertia ixx="0.011329" ixy="4.82E-05" ixz="-4.49E-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168"/>
149
- </inertial>
150
- <visual>
151
- <origin xyz="0 0 0" rpy="0 0 0"/>
152
- <geometry>
153
- <mesh filename="meshes/left_knee_link.stl"/>
154
- </geometry>
155
- <material name="white">
156
- <color rgba="0.7 0.7 0.7 1"/>
157
- </material>
158
- </visual>
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- <collision>
160
- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
162
- <mesh filename="meshes/left_knee_link.stl"/>
163
- </geometry>
164
- </collision>
165
- </link>
166
- <joint name="left_knee_joint" type="revolute">
167
- <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0 0.1749 0"/>
168
- <parent link="left_hip_yaw_link"/>
169
- <child link="left_knee_link"/>
170
- <axis xyz="0 1 0"/>
171
- <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
172
- </joint>
173
- <link name="left_ankle_pitch_link">
174
- <inertial>
175
- <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
176
- <mass value="0.074"/>
177
- <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
178
- </inertial>
179
- <visual>
180
- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
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- <mesh filename="meshes/left_ankle_pitch_link.stl"/>
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- </geometry>
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- <material name="white">
185
- <color rgba="0.7 0.7 0.7 1"/>
186
- </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/left_ankle_pitch_link.stl"/>
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- </geometry>
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- </collision>
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- </link>
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- <joint name="left_ankle_pitch_joint" type="revolute">
196
- <origin xyz="0 -9.4445E-05 -0.30001" rpy="0 0 0"/>
197
- <parent link="left_knee_link"/>
198
- <child link="left_ankle_pitch_link"/>
199
- <axis xyz="0 1 0"/>
200
- <limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
201
- </joint>
202
- <link name="left_ankle_roll_link">
203
- <inertial>
204
- <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
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- <mass value="0.608"/>
206
- <inertia ixx="0.0002231" ixy="2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="-1E-07" izz="0.0016667"/>
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- </inertial>
208
- <visual>
209
- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
211
- <mesh filename="meshes/left_ankle_roll_link.stl"/>
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- </geometry>
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- <material name="dark">
214
- <color rgba="0.2 0.2 0.2 1"/>
215
- </material>
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- </visual>
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- <collision>
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- <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
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- <geometry>
220
- <sphere radius="0.005"/>
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- </geometry>
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- </collision>
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- <collision>
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- <origin xyz="-0.05 -0.025 -0.03" 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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- </collision>
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- <collision>
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- <origin xyz="0.12 0.03 -0.03" 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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- </collision>
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- <collision>
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- <origin xyz="0.12 -0.03 -0.03" 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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- </collision>
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- </link>
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- <joint name="left_ankle_roll_joint" type="revolute">
243
- <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
244
- <parent link="left_ankle_pitch_link"/>
245
- <child link="left_ankle_roll_link"/>
246
- <axis xyz="1 0 0"/>
247
- <limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
248
- </joint>
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- <link name="right_hip_pitch_link">
250
- <inertial>
251
- <origin xyz="0.002741 -0.047791 -0.02606" rpy="0 0 0"/>
252
- <mass value="1.35"/>
253
- <inertia ixx="0.001811" ixy="-3.68E-05" ixz="-3.44E-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812"/>
254
- </inertial>
255
- <visual>
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- <origin xyz="0 0 0" rpy="0 0 0"/>
257
- <geometry>
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- <mesh filename="meshes/right_hip_pitch_link.stl"/>
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- </geometry>
260
- <material name="dark">
261
- <color rgba="0.2 0.2 0.2 1"/>
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- </material>
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- </visual>
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- <collision>
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- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
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- <mesh filename="meshes/right_hip_pitch_link.stl"/>
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- </geometry>
269
- </collision>
270
- </link>
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- <joint name="right_hip_pitch_joint" type="revolute">
272
- <origin xyz="0 -0.064452 -0.1027" rpy="0 0 0"/>
273
- <parent link="pelvis"/>
274
- <child link="right_hip_pitch_link"/>
275
- <axis xyz="0 1 0"/>
276
- <limit lower="-2.5307" upper="2.8798" effort="88" velocity="32"/>
277
- </joint>
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- <link name="right_hip_roll_link">
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- <inertial>
280
- <origin xyz="0.029812 0.001045 -0.087934" rpy="0 0 0"/>
281
- <mass value="1.52"/>
282
- <inertia ixx="0.0023773" ixy="3.8E-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84E-05" izz="0.0016595"/>
283
- </inertial>
284
- <visual>
285
- <origin xyz="0 0 0" rpy="0 0 0"/>
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- <geometry>
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- <mesh filename="meshes/right_hip_roll_link.stl"/>
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- </geometry>
289
- <material name="white">
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- <color rgba="0.7 0.7 0.7 1"/>
291
- </material>
292
- </visual>
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- <collision>
294
- <origin xyz="0 0 0" rpy="0 0 0"/>
295
- <geometry>
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- <mesh filename="meshes/right_hip_roll_link.stl"/>
297
- </geometry>
298
- </collision>
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- </link>
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- <joint name="right_hip_roll_joint" type="revolute">
301
- <origin xyz="0 -0.052 -0.030465" rpy="0 -0.1749 0"/>
302
- <parent link="right_hip_pitch_link"/>
303
- <child link="right_hip_roll_link"/>
304
- <axis xyz="1 0 0"/>
305
- <limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
306
- </joint>
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- <link name="right_hip_yaw_link">
308
- <inertial>
309
- <origin xyz="-0.057709 0.010981 -0.15078" rpy="0 0 0"/>
310
- <mass value="1.702"/>
311
- <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149"/>
312
- </inertial>
313
- <visual>
314
- <origin xyz="0 0 0" rpy="0 0 0"/>
315
- <geometry>
316
- <mesh filename="meshes/right_hip_yaw_link.stl"/>
317
- </geometry>
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- <material name="white">
319
- <color rgba="0.7 0.7 0.7 1"/>
320
- </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>
325
- <mesh filename="meshes/right_hip_yaw_link.stl"/>
326
- </geometry>
327
- </collision>
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- </link>
329
- <joint name="right_hip_yaw_joint" type="revolute">
330
- <origin xyz="0.025001 0 -0.12412" rpy="0 0 0"/>
331
- <parent link="right_hip_roll_link"/>
332
- <child link="right_hip_yaw_link"/>
333
- <axis xyz="0 0 1"/>
334
- <limit lower="-2.7576" upper="2.7576" effort="88" velocity="32"/>
335
- </joint>
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- <link name="right_knee_link">
337
- <inertial>
338
- <origin xyz="0.005457 -0.003964 -0.12074" rpy="0 0 0"/>
339
- <mass value="1.932"/>
340
- <inertia ixx="0.011329" ixy="-4.82E-05" ixz="4.49E-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168"/>
341
- </inertial>
342
- <visual>
343
- <origin xyz="0 0 0" rpy="0 0 0"/>
344
- <geometry>
345
- <mesh filename="meshes/right_knee_link.stl"/>
346
- </geometry>
347
- <material name="white">
348
- <color rgba="0.7 0.7 0.7 1"/>
349
- </material>
350
- </visual>
351
- <collision>
352
- <origin xyz="0 0 0" rpy="0 0 0"/>
353
- <geometry>
354
- <mesh filename="meshes/right_knee_link.stl"/>
355
- </geometry>
356
- </collision>
357
- </link>
358
- <joint name="right_knee_joint" type="revolute">
359
- <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0 0.1749 0"/>
360
- <parent link="right_hip_yaw_link"/>
361
- <child link="right_knee_link"/>
362
- <axis xyz="0 1 0"/>
363
- <limit lower="-0.087267" upper="2.8798" effort="139" velocity="20"/>
364
- </joint>
365
- <link name="right_ankle_pitch_link">
366
- <inertial>
367
- <origin xyz="-0.007269 0 0.011137" rpy="0 0 0"/>
368
- <mass value="0.074"/>
369
- <inertia ixx="8.4E-06" ixy="0" ixz="-2.9E-06" iyy="1.89E-05" iyz="0" izz="1.26E-05"/>
370
- </inertial>
371
- <visual>
372
- <origin xyz="0 0 0" rpy="0 0 0"/>
373
- <geometry>
374
- <mesh filename="meshes/right_ankle_pitch_link.stl"/>
375
- </geometry>
376
- <material name="white">
377
- <color rgba="0.7 0.7 0.7 1"/>
378
- </material>
379
- </visual>
380
- <collision>
381
- <origin xyz="0 0 0" rpy="0 0 0"/>
382
- <geometry>
383
- <mesh filename="meshes/right_ankle_pitch_link.stl"/>
384
- </geometry>
385
- </collision>
386
- </link>
387
- <joint name="right_ankle_pitch_joint" type="revolute">
388
- <origin xyz="0 9.4445E-05 -0.30001" rpy="0 0 0"/>
389
- <parent link="right_knee_link"/>
390
- <child link="right_ankle_pitch_link"/>
391
- <axis xyz="0 1 0"/>
392
- <limit lower="-0.87267" upper="0.5236" effort="50" velocity="37"/>
393
- </joint>
394
- <link name="right_ankle_roll_link">
395
- <inertial>
396
- <origin xyz="0.026505 0 -0.016425" rpy="0 0 0"/>
397
- <mass value="0.608"/>
398
- <inertia ixx="0.0002231" ixy="-2E-07" ixz="8.91E-05" iyy="0.0016161" iyz="1E-07" izz="0.0016667"/>
399
- </inertial>
400
- <visual>
401
- <origin xyz="0 0 0" rpy="0 0 0"/>
402
- <geometry>
403
- <mesh filename="meshes/right_ankle_roll_link.stl"/>
404
- </geometry>
405
- <material name="dark">
406
- <color rgba="0.2 0.2 0.2 1"/>
407
- </material>
408
- </visual>
409
- <collision>
410
- <origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
411
- <geometry>
412
- <sphere radius="0.005"/>
413
- </geometry>
414
- </collision>
415
- <collision>
416
- <origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
417
- <geometry>
418
- <sphere radius="0.005"/>
419
- </geometry>
420
- </collision>
421
- <collision>
422
- <origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
423
- <geometry>
424
- <sphere radius="0.005"/>
425
- </geometry>
426
- </collision>
427
- <collision>
428
- <origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
429
- <geometry>
430
- <sphere radius="0.005"/>
431
- </geometry>
432
- </collision>
433
- </link>
434
- <joint name="right_ankle_roll_joint" type="revolute">
435
- <origin xyz="0 0 -0.017558" rpy="0 0 0"/>
436
- <parent link="right_ankle_pitch_link"/>
437
- <child link="right_ankle_roll_link"/>
438
- <axis xyz="1 0 0"/>
439
- <limit lower="-0.2618" upper="0.2618" effort="50" velocity="37"/>
440
- </joint>
441
-
442
- <!-- Torso -->
443
- <link name="waist_yaw_link">
444
- <inertial>
445
- <origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0"/>
446
- <mass value="0.214"/>
447
- <inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625"/>
448
- </inertial>
449
- <visual>
450
- <origin xyz="0 0 0" rpy="0 0 0"/>
451
- <geometry>
452
- <mesh filename="meshes/waist_yaw_link_rev_1_0.stl"/>
453
- </geometry>
454
- <material name="white">
455
- <color rgba="0.7 0.7 0.7 1"/>
456
- </material>
457
- </visual>
458
- </link>
459
- <joint name="waist_yaw_joint" type="revolute">
460
- <origin xyz="0 0 0" rpy="0 0 0"/>
461
- <parent link="pelvis"/>
462
- <child link="waist_yaw_link"/>
463
- <axis xyz="0 0 1"/>
464
- <limit lower="-2.618" upper="2.618" effort="88" velocity="32"/>
465
- </joint>
466
- <link name="waist_roll_link">
467
- <inertial>
468
- <origin xyz="0 2.3E-05 0" rpy="0 0 0"/>
469
- <mass value="0.086"/>
470
- <inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06"/>
471
- </inertial>
472
- <visual>
473
- <origin xyz="0 0 0" rpy="0 0 0"/>
474
- <geometry>
475
- <mesh filename="meshes/waist_roll_link_rev_1_0.stl"/>
476
- </geometry>
477
- <material name="white">
478
- <color rgba="0.7 0.7 0.7 1"/>
479
- </material>
480
- </visual>
481
- </link>
482
- <joint name="waist_roll_joint" type="revolute">
483
- <origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
484
- <parent link="waist_yaw_link"/>
485
- <child link="waist_roll_link"/>
486
- <axis xyz="1 0 0"/>
487
- <limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
488
- </joint>
489
- <link name="torso_link">
490
- <inertial>
491
- <origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
492
- <mass value="6.78"/>
493
- <inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
494
- </inertial>
495
- <visual>
496
- <origin xyz="0 0 0" rpy="0 0 0"/>
497
- <geometry>
498
- <mesh filename="meshes/torso_link_rev_1_0.stl"/>
499
- </geometry>
500
- <material name="white">
501
- <color rgba="0.7 0.7 0.7 1"/>
502
- </material>
503
- </visual>
504
- <collision>
505
- <origin xyz="0 0 0" rpy="0 0 0"/>
506
- <geometry>
507
- <mesh filename="meshes/torso_link_rev_1_0.stl"/>
508
- </geometry>
509
- </collision>
510
- </link>
511
- <joint name="waist_pitch_joint" type="revolute">
512
- <origin xyz="0 0 0" rpy="0 0 0"/>
513
- <parent link="waist_roll_link"/>
514
- <child link="torso_link"/>
515
- <axis xyz="0 1 0"/>
516
- <limit lower="-0.52" upper="0.52" effort="50" velocity="37"/>
517
- </joint>
518
-
519
- <!-- LOGO -->
520
- <joint name="logo_joint" type="fixed">
521
- <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
522
- <parent link="torso_link"/>
523
- <child link="logo_link"/>
524
- </joint>
525
- <link name="logo_link">
526
- <inertial>
527
- <origin xyz="0 0 0" rpy="0 0 0"/>
528
- <mass value="0.001"/>
529
- <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
530
- </inertial>
531
- <visual>
532
- <origin xyz="0 0 0" rpy="0 0 0"/>
533
- <geometry>
534
- <mesh filename="meshes/logo_link.stl"/>
535
- </geometry>
536
- <material name="dark">
537
- <color rgba="0.2 0.2 0.2 1"/>
538
- </material>
539
- </visual>
540
- <collision>
541
- <origin xyz="0 0 0" rpy="0 0 0"/>
542
- <geometry>
543
- <mesh filename="meshes/logo_link.stl"/>
544
- </geometry>
545
- </collision>
546
- </link>
547
-
548
- <!-- Head -->
549
- <link name="head_link">
550
- <inertial>
551
- <origin xyz="0.005267 0.000299 0.449869" rpy="0 0 0"/>
552
- <mass value="1.036"/>
553
- <inertia ixx="0.004085051" ixy="-2.543E-06" ixz="-6.9455E-05" iyy="0.004185212" iyz="-3.726E-06" izz="0.001807911"/>
554
- </inertial>
555
- <visual>
556
- <origin xyz="0 0 0" rpy="0 0 0"/>
557
- <geometry>
558
- <mesh filename="meshes/head_link.stl"/>
559
- </geometry>
560
- <material name="dark">
561
- <color rgba="0.2 0.2 0.2 1"/>
562
- </material>
563
- </visual>
564
- <collision>
565
- <origin xyz="0 0 0" rpy="0 0 0"/>
566
- <geometry>
567
- <mesh filename="meshes/head_link.stl"/>
568
- </geometry>
569
- </collision>
570
- </link>
571
- <joint name="head_joint" type="fixed">
572
- <origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
573
- <parent link="torso_link"/>
574
- <child link="head_link"/>
575
- </joint>
576
-
577
-
578
- <!-- IMU -->
579
- <link name="imu_in_torso"></link>
580
- <joint name="imu_in_torso_joint" type="fixed">
581
- <origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
582
- <parent link="torso_link"/>
583
- <child link="imu_in_torso"/>
584
- </joint>
585
-
586
- <link name="imu_in_pelvis"></link>
587
- <joint name="imu_in_pelvis_joint" type="fixed">
588
- <origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
589
- <parent link="pelvis"/>
590
- <child link="imu_in_pelvis"/>
591
- </joint>
592
-
593
- <!-- d435 -->
594
- <link name="d435_link"></link>
595
- <joint name="d435_joint" type="fixed">
596
- <origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
597
- <parent link="torso_link"/>
598
- <child link="d435_link"/>
599
- </joint>
600
-
601
- <!-- mid360 -->
602
- <link name="mid360_link"></link>
603
- <joint name="mid360_joint" type="fixed">
604
- <origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
605
- <parent link="torso_link"/>
606
- <child link="mid360_link"/>
607
- </joint>
608
-
609
- <!-- Arm -->
610
- <link name="left_shoulder_pitch_link">
611
- <inertial>
612
- <origin xyz="0 0.035892 -0.011628" rpy="0 0 0"/>
613
- <mass value="0.718"/>
614
- <inertia ixx="0.0004291" ixy="-9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="2.26E-05" izz="0.000423"/>
615
- </inertial>
616
- <visual>
617
- <origin xyz="0 0 0" rpy="0 0 0"/>
618
- <geometry>
619
- <mesh filename="meshes/left_shoulder_pitch_link.stl"/>
620
- </geometry>
621
- <material name="white">
622
- <color rgba="0.7 0.7 0.7 1"/>
623
- </material>
624
- </visual>
625
- <collision>
626
- <origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
627
- <geometry>
628
- <cylinder radius="0.03" length="0.05"/>
629
- </geometry>
630
- </collision>
631
- </link>
632
- <joint name="left_shoulder_pitch_joint" type="revolute">
633
- <origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
634
- <parent link="torso_link"/>
635
- <child link="left_shoulder_pitch_link"/>
636
- <axis xyz="0 1 0"/>
637
- <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
638
- </joint>
639
- <link name="left_shoulder_roll_link">
640
- <inertial>
641
- <origin xyz="-0.000227 0.00727 -0.063243" rpy="0 0 0"/>
642
- <mass value="0.643"/>
643
- <inertia ixx="0.0006177" ixy="-1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="-5.3E-06" izz="0.0003894"/>
644
- </inertial>
645
- <visual>
646
- <origin xyz="0 0 0" rpy="0 0 0"/>
647
- <geometry>
648
- <mesh filename="meshes/left_shoulder_roll_link.stl"/>
649
- </geometry>
650
- <material name="white">
651
- <color rgba="0.7 0.7 0.7 1"/>
652
- </material>
653
- </visual>
654
- <collision>
655
- <origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
656
- <geometry>
657
- <cylinder radius="0.03" length="0.03"/>
658
- </geometry>
659
- </collision>
660
- </link>
661
- <joint name="left_shoulder_roll_joint" type="revolute">
662
- <origin xyz="0 0.038 -0.013831" rpy="-0.27925 0 0"/>
663
- <parent link="left_shoulder_pitch_link"/>
664
- <child link="left_shoulder_roll_link"/>
665
- <axis xyz="1 0 0"/>
666
- <limit lower="-1.5882" upper="2.2515" effort="25" velocity="37"/>
667
- </joint>
668
- <link name="left_shoulder_yaw_link">
669
- <inertial>
670
- <origin xyz="0.010773 -0.002949 -0.072009" rpy="0 0 0"/>
671
- <mass value="0.734"/>
672
- <inertia ixx="0.0009988" ixy="7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86E-05" izz="0.0004354"/>
673
- </inertial>
674
- <visual>
675
- <origin xyz="0 0 0" rpy="0 0 0"/>
676
- <geometry>
677
- <mesh filename="meshes/left_shoulder_yaw_link.stl"/>
678
- </geometry>
679
- <material name="white">
680
- <color rgba="0.7 0.7 0.7 1"/>
681
- </material>
682
- </visual>
683
- <collision>
684
- <origin xyz="0 0 0" rpy="0 0 0"/>
685
- <geometry>
686
- <mesh filename="meshes/left_shoulder_yaw_link.stl"/>
687
- </geometry>
688
- </collision>
689
- </link>
690
- <joint name="left_shoulder_yaw_joint" type="revolute">
691
- <origin xyz="0 0.00624 -0.1032" rpy="0 0 0"/>
692
- <parent link="left_shoulder_roll_link"/>
693
- <child link="left_shoulder_yaw_link"/>
694
- <axis xyz="0 0 1"/>
695
- <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
696
- </joint>
697
- <link name="left_elbow_link">
698
- <inertial>
699
- <origin xyz="0.064956 0.004454 -0.010062" rpy="0 0 0"/>
700
- <mass value="0.6"/>
701
- <inertia ixx="0.0002891" ixy="6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="-5.6E-06" izz="0.0004197"/>
702
- </inertial>
703
- <visual>
704
- <origin xyz="0 0 0" rpy="0 0 0"/>
705
- <geometry>
706
- <mesh filename="meshes/left_elbow_link.stl"/>
707
- </geometry>
708
- <material name="white">
709
- <color rgba="0.7 0.7 0.7 1"/>
710
- </material>
711
- </visual>
712
- <collision>
713
- <origin xyz="0 0 0" rpy="0 0 0"/>
714
- <geometry>
715
- <mesh filename="meshes/left_elbow_link.stl"/>
716
- </geometry>
717
- </collision>
718
- </link>
719
- <joint name="left_elbow_joint" type="revolute">
720
- <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
721
- <parent link="left_shoulder_yaw_link"/>
722
- <child link="left_elbow_link"/>
723
- <axis xyz="0 1 0"/>
724
- <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
725
- </joint>
726
- <joint name="left_wrist_roll_joint" type="revolute">
727
- <origin xyz="0.100 0.00188791 -0.010" rpy="0 0 0"/>
728
- <axis xyz="1 0 0"/>
729
- <parent link="left_elbow_link"/>
730
- <child link="left_wrist_roll_link"/>
731
- <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
732
- </joint>
733
- <link name="left_wrist_roll_link">
734
- <inertial>
735
- <origin xyz="0.01713944778 0.00053759094 0.00000048864" rpy="0 0 0"/>
736
- <mass value="0.08544498"/>
737
- <inertia ixx="0.00004821544023" ixy="-0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="-0.00000000123525" izz="0.00005482106541"/>
738
- </inertial>
739
- <visual>
740
- <origin xyz="0 0 0" rpy="0 0 0"/>
741
- <geometry>
742
- <mesh filename="meshes/left_wrist_roll_link.stl"/>
743
- </geometry>
744
- <material name="white">
745
- <color rgba="0.7 0.7 0.7 1"/>
746
- </material>
747
- </visual>
748
- <collision>
749
- <origin xyz="0 0 0" rpy="0 0 0"/>
750
- <geometry>
751
- <mesh filename="meshes/left_wrist_roll_link.stl"/>
752
- </geometry>
753
- </collision>
754
- </link>
755
- <joint name="left_wrist_pitch_joint" type="revolute">
756
- <origin xyz="0.038 0 0" rpy="0 0 0"/>
757
- <axis xyz="0 1 0"/>
758
- <parent link="left_wrist_roll_link"/>
759
- <child link="left_wrist_pitch_link"/>
760
- <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
761
- </joint>
762
- <link name="left_wrist_pitch_link">
763
- <inertial>
764
- <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0 0 0"/>
765
- <mass value="0.48404956"/>
766
- <inertia ixx="0.00016579646273" ixy="-0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="0.00000081417712" izz="0.00042953697654"/>
767
- </inertial>
768
- <visual>
769
- <origin xyz="0 0 0" rpy="0 0 0"/>
770
- <geometry>
771
- <mesh filename="meshes/left_wrist_pitch_link.stl"/>
772
- </geometry>
773
- <material name="white">
774
- <color rgba="0.7 0.7 0.7 1"/>
775
- </material>
776
- </visual>
777
- <collision>
778
- <origin xyz="0 0 0" rpy="0 0 0"/>
779
- <geometry>
780
- <mesh filename="meshes/left_wrist_pitch_link.stl"/>
781
- </geometry>
782
- </collision>
783
- </link>
784
- <joint name="left_wrist_yaw_joint" type="revolute">
785
- <origin xyz="0.046 0 0" rpy="0 0 0"/>
786
- <axis xyz="0 0 1"/>
787
- <parent link="left_wrist_pitch_link"/>
788
- <child link="left_wrist_yaw_link"/>
789
- <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
790
- </joint>
791
- <link name="left_wrist_yaw_link">
792
- <inertial>
793
- <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0 0 0"/>
794
- <mass value="0.08457647"/>
795
- <inertia ixx="0.00004929128828" ixy="-0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="0.00000043217198" izz="0.00003928083826"/>
796
- </inertial>
797
- <visual>
798
- <origin xyz="0 0 0" rpy="0 0 0"/>
799
- <geometry>
800
- <mesh filename="meshes/left_wrist_yaw_link.stl"/>
801
- </geometry>
802
- <material name="white">
803
- <color rgba="0.7 0.7 0.7 1"/>
804
- </material>
805
- </visual>
806
- <collision>
807
- <origin xyz="0 0 0" rpy="0 0 0"/>
808
- <geometry>
809
- <mesh filename="meshes/left_wrist_yaw_link.stl"/>
810
- </geometry>
811
- </collision>
812
- </link>
813
- <joint name="left_hand_palm_joint" type="fixed">
814
- <origin xyz="0.0415 0.003 0" rpy="0 0 0"/>
815
- <parent link="left_wrist_yaw_link"/>
816
- <child link="left_hand_palm_link"/>
817
- </joint>
818
- <link name="left_hand_palm_link">
819
- <inertial>
820
- <origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0"/>
821
- <mass value="0.37283854"/>
822
- <inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
823
- </inertial>
824
- <visual>
825
- <origin xyz="0 0 0" rpy="0 0 0"/>
826
- <geometry>
827
- <mesh filename="meshes/left_hand_palm_link.stl"/>
828
- </geometry>
829
- <material name="white">
830
- <color rgba="0.7 0.7 0.7 1"/>
831
- </material>
832
- </visual>
833
- <collision>
834
- <origin xyz="0 0 0" rpy="0 0 0"/>
835
- <geometry>
836
- <mesh filename="meshes/left_hand_palm_link.stl"/>
837
- </geometry>
838
- </collision>
839
- </link>
840
- <joint name="left_hand_thumb_0_joint" type="revolute">
841
- <origin xyz="0.0255 0 0" rpy="0 0 0"/>
842
- <axis xyz="0 1 0"/>
843
- <parent link="left_hand_palm_link"/>
844
- <child link="left_hand_thumb_0_link"/>
845
- <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
846
- </joint>
847
- <link name="left_hand_thumb_0_link">
848
- <inertial>
849
- <origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
850
- <mass value="0.08623657"/>
851
- <inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
852
- </inertial>
853
- <visual>
854
- <origin xyz="0 0 0" rpy="0 0 0"/>
855
- <geometry>
856
- <mesh filename="meshes/left_hand_thumb_0_link.stl"/>
857
- </geometry>
858
- <material name="white">
859
- <color rgba="0.7 0.7 0.7 1"/>
860
- </material>
861
- </visual>
862
- <collision>
863
- <origin xyz="0 0 0" rpy="0 0 0"/>
864
- <geometry>
865
- <mesh filename="meshes/left_hand_thumb_0_link.stl"/>
866
- </geometry>
867
- </collision>
868
- </link>
869
- <joint name="left_hand_thumb_1_joint" type="revolute">
870
- <origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
871
- <axis xyz="0 0 1"/>
872
- <parent link="left_hand_thumb_0_link"/>
873
- <child link="left_hand_thumb_1_link"/>
874
- <limit effort="1.4" velocity="12" lower="-0.72431163" upper="1.04719755"/>
875
- </joint>
876
- <link name="left_hand_thumb_1_link">
877
- <inertial>
878
- <origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
879
- <mass value="0.05885070"/>
880
- <inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
881
- </inertial>
882
- <visual>
883
- <origin xyz="0 0 0" rpy="0 0 0"/>
884
- <geometry>
885
- <mesh filename="meshes/left_hand_thumb_1_link.stl"/>
886
- </geometry>
887
- <material name="white">
888
- <color rgba="0.7 0.7 0.7 1"/>
889
- </material>
890
- </visual>
891
- <collision>
892
- <origin xyz="-0.001 -0.032 0" rpy="0 0 0"/>
893
- <geometry>
894
- <box size="0.02 0.03 0.02"/>
895
- </geometry>
896
- </collision>
897
- </link>
898
- <joint name="left_hand_thumb_2_joint" type="revolute">
899
- <origin xyz="0 -0.0458 0" rpy="0 0 0"/>
900
- <axis xyz="0 0 1"/>
901
- <parent link="left_hand_thumb_1_link"/>
902
- <child link="left_hand_thumb_2_link"/>
903
- <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
904
- </joint>
905
- <link name="left_hand_thumb_2_link">
906
- <inertial>
907
- <origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
908
- <mass value="0.02030626"/>
909
- <inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
910
- </inertial>
911
- <visual>
912
- <origin xyz="0 0 0" rpy="0 0 0"/>
913
- <geometry>
914
- <mesh filename="meshes/left_hand_thumb_2_link.stl"/>
915
- </geometry>
916
- <material name="white">
917
- <color rgba="0.7 0.7 0.7 1"/>
918
- </material>
919
- </visual>
920
- <collision>
921
- <origin xyz="0 0 0" rpy="0 0 0"/>
922
- <geometry>
923
- <mesh filename="meshes/left_hand_thumb_2_link.stl"/>
924
- </geometry>
925
- </collision>
926
- </link>
927
- <joint name="left_hand_middle_0_joint" type="revolute">
928
- <origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
929
- <axis xyz="0 0 1"/>
930
- <parent link="left_hand_palm_link"/>
931
- <child link="left_hand_middle_0_link"/>
932
- <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
933
- </joint>
934
- <link name="left_hand_middle_0_link">
935
- <inertial>
936
- <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
937
- <mass value="0.05885070"/>
938
- <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
939
- </inertial>
940
- <visual>
941
- <origin xyz="0 0 0" rpy="0 0 0"/>
942
- <geometry>
943
- <mesh filename="meshes/left_hand_middle_0_link.stl"/>
944
- </geometry>
945
- <material name="white">
946
- <color rgba="0.7 0.7 0.7 1"/>
947
- </material>
948
- </visual>
949
- <collision>
950
- <origin xyz="0 0 0" rpy="0 0 0"/>
951
- <geometry>
952
- <mesh filename="meshes/left_hand_middle_0_link.stl"/>
953
- </geometry>
954
- </collision>
955
- </link>
956
- <joint name="left_hand_middle_1_joint" type="revolute">
957
- <origin xyz="0.0458 0 0" rpy="0 0 0"/>
958
- <axis xyz="0 0 1"/>
959
- <parent link="left_hand_middle_0_link"/>
960
- <child link="left_hand_middle_1_link"/>
961
- <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
962
- </joint>
963
- <link name="left_hand_middle_1_link">
964
- <inertial>
965
- <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
966
- <mass value="0.02030626"/>
967
- <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
968
- </inertial>
969
- <visual>
970
- <origin xyz="0 0 0" rpy="0 0 0"/>
971
- <geometry>
972
- <mesh filename="meshes/left_hand_middle_1_link.stl"/>
973
- </geometry>
974
- <material name="white">
975
- <color rgba="0.7 0.7 0.7 1"/>
976
- </material>
977
- </visual>
978
- <collision>
979
- <origin xyz="0 0 0" rpy="0 0 0"/>
980
- <geometry>
981
- <mesh filename="meshes/left_hand_middle_1_link.stl"/>
982
- </geometry>
983
- </collision>
984
- </link>
985
- <joint name="left_hand_index_0_joint" type="revolute">
986
- <origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
987
- <axis xyz="0 0 1"/>
988
- <parent link="left_hand_palm_link"/>
989
- <child link="left_hand_index_0_link"/>
990
- <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
991
- </joint>
992
- <link name="left_hand_index_0_link">
993
- <inertial>
994
- <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
995
- <mass value="0.05885070"/>
996
- <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
997
- </inertial>
998
- <visual>
999
- <origin xyz="0 0 0" rpy="0 0 0"/>
1000
- <geometry>
1001
- <mesh filename="meshes/left_hand_index_0_link.stl"/>
1002
- </geometry>
1003
- <material name="white">
1004
- <color rgba="0.7 0.7 0.7 1"/>
1005
- </material>
1006
- </visual>
1007
- <collision>
1008
- <origin xyz="0 0 0" rpy="0 0 0"/>
1009
- <geometry>
1010
- <mesh filename="meshes/left_hand_index_0_link.stl"/>
1011
- </geometry>
1012
- </collision>
1013
- </link>
1014
- <joint name="left_hand_index_1_joint" type="revolute">
1015
- <origin xyz="0.0458 0 0" rpy="0 0 0"/>
1016
- <axis xyz="0 0 1"/>
1017
- <parent link="left_hand_index_0_link"/>
1018
- <child link="left_hand_index_1_link"/>
1019
- <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
1020
- </joint>
1021
- <link name="left_hand_index_1_link">
1022
- <inertial>
1023
- <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
1024
- <mass value="0.02030626"/>
1025
- <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
1026
- </inertial>
1027
- <visual>
1028
- <origin xyz="0 0 0" rpy="0 0 0"/>
1029
- <geometry>
1030
- <mesh filename="meshes/left_hand_index_1_link.stl"/>
1031
- </geometry>
1032
- <material name="white">
1033
- <color rgba="0.7 0.7 0.7 1"/>
1034
- </material>
1035
- </visual>
1036
- <collision>
1037
- <origin xyz="0 0 0" rpy="0 0 0"/>
1038
- <geometry>
1039
- <mesh filename="meshes/left_hand_index_1_link.stl"/>
1040
- </geometry>
1041
- </collision>
1042
- </link>
1043
- <link name="right_shoulder_pitch_link">
1044
- <inertial>
1045
- <origin xyz="0 -0.035892 -0.011628" rpy="0 0 0"/>
1046
- <mass value="0.718"/>
1047
- <inertia ixx="0.0004291" ixy="9.2E-06" ixz="6.4E-06" iyy="0.000453" iyz="-2.26E-05" izz="0.000423"/>
1048
- </inertial>
1049
- <visual>
1050
- <origin xyz="0 0 0" rpy="0 0 0"/>
1051
- <geometry>
1052
- <mesh filename="meshes/right_shoulder_pitch_link.stl"/>
1053
- </geometry>
1054
- <material name="white">
1055
- <color rgba="0.7 0.7 0.7 1"/>
1056
- </material>
1057
- </visual>
1058
- <collision>
1059
- <origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
1060
- <geometry>
1061
- <cylinder radius="0.03" length="0.05"/>
1062
- </geometry>
1063
- </collision>
1064
- </link>
1065
- <joint name="right_shoulder_pitch_joint" type="revolute">
1066
- <origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
1067
- <parent link="torso_link"/>
1068
- <child link="right_shoulder_pitch_link"/>
1069
- <axis xyz="0 1 0"/>
1070
- <limit lower="-3.0892" upper="2.6704" effort="25" velocity="37"/>
1071
- </joint>
1072
- <link name="right_shoulder_roll_link">
1073
- <inertial>
1074
- <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0 0 0"/>
1075
- <mass value="0.643"/>
1076
- <inertia ixx="0.0006177" ixy="1E-06" ixz="8.7E-06" iyy="0.0006912" iyz="5.3E-06" izz="0.0003894"/>
1077
- </inertial>
1078
- <visual>
1079
- <origin xyz="0 0 0" rpy="0 0 0"/>
1080
- <geometry>
1081
- <mesh filename="meshes/right_shoulder_roll_link.stl"/>
1082
- </geometry>
1083
- <material name="white">
1084
- <color rgba="0.7 0.7 0.7 1"/>
1085
- </material>
1086
- </visual>
1087
- <collision>
1088
- <origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
1089
- <geometry>
1090
- <cylinder radius="0.03" length="0.03"/>
1091
- </geometry>
1092
- </collision>
1093
- </link>
1094
- <joint name="right_shoulder_roll_joint" type="revolute">
1095
- <origin xyz="0 -0.038 -0.013831" rpy="0.27925 0 0"/>
1096
- <parent link="right_shoulder_pitch_link"/>
1097
- <child link="right_shoulder_roll_link"/>
1098
- <axis xyz="1 0 0"/>
1099
- <limit lower="-2.2515" upper="1.5882" effort="25" velocity="37"/>
1100
- </joint>
1101
- <link name="right_shoulder_yaw_link">
1102
- <inertial>
1103
- <origin xyz="0.010773 0.002949 -0.072009" rpy="0 0 0"/>
1104
- <mass value="0.734"/>
1105
- <inertia ixx="0.0009988" ixy="-7.9E-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86E-05" izz="0.0004354"/>
1106
- </inertial>
1107
- <visual>
1108
- <origin xyz="0 0 0" rpy="0 0 0"/>
1109
- <geometry>
1110
- <mesh filename="meshes/right_shoulder_yaw_link.stl"/>
1111
- </geometry>
1112
- <material name="white">
1113
- <color rgba="0.7 0.7 0.7 1"/>
1114
- </material>
1115
- </visual>
1116
- <collision>
1117
- <origin xyz="0 0 0" rpy="0 0 0"/>
1118
- <geometry>
1119
- <mesh filename="meshes/right_shoulder_yaw_link.stl"/>
1120
- </geometry>
1121
- </collision>
1122
- </link>
1123
- <joint name="right_shoulder_yaw_joint" type="revolute">
1124
- <origin xyz="0 -0.00624 -0.1032" rpy="0 0 0"/>
1125
- <parent link="right_shoulder_roll_link"/>
1126
- <child link="right_shoulder_yaw_link"/>
1127
- <axis xyz="0 0 1"/>
1128
- <limit lower="-2.618" upper="2.618" effort="25" velocity="37"/>
1129
- </joint>
1130
- <link name="right_elbow_link">
1131
- <inertial>
1132
- <origin xyz="0.064956 -0.004454 -0.010062" rpy="0 0 0"/>
1133
- <mass value="0.6"/>
1134
- <inertia ixx="0.0002891" ixy="-6.53E-05" ixz="1.72E-05" iyy="0.0004152" iyz="5.6E-06" izz="0.0004197"/>
1135
- </inertial>
1136
- <visual>
1137
- <origin xyz="0 0 0" rpy="0 0 0"/>
1138
- <geometry>
1139
- <mesh filename="meshes/right_elbow_link.stl"/>
1140
- </geometry>
1141
- <material name="white">
1142
- <color rgba="0.7 0.7 0.7 1"/>
1143
- </material>
1144
- </visual>
1145
- <collision>
1146
- <origin xyz="0 0 0" rpy="0 0 0"/>
1147
- <geometry>
1148
- <mesh filename="meshes/right_elbow_link.stl"/>
1149
- </geometry>
1150
- </collision>
1151
- </link>
1152
- <joint name="right_elbow_joint" type="revolute">
1153
- <origin xyz="0.015783 0 -0.080518" rpy="0 0 0"/>
1154
- <parent link="right_shoulder_yaw_link"/>
1155
- <child link="right_elbow_link"/>
1156
- <axis xyz="0 1 0"/>
1157
- <limit lower="-1.0472" upper="2.0944" effort="25" velocity="37"/>
1158
- </joint>
1159
- <joint name="right_wrist_roll_joint" type="revolute">
1160
- <origin xyz="0.100 -0.00188791 -0.010" rpy="0 0 0"/>
1161
- <axis xyz="1 0 0"/>
1162
- <parent link="right_elbow_link"/>
1163
- <child link="right_wrist_roll_link"/>
1164
- <limit effort="25" velocity="37" lower="-1.972222054" upper="1.972222054"/>
1165
- </joint>
1166
- <link name="right_wrist_roll_link">
1167
- <inertial>
1168
- <origin xyz="0.01713944778 -0.00053759094 0.00000048864" rpy="0 0 0"/>
1169
- <mass value="0.08544498"/>
1170
- <inertia ixx="0.00004821544023" ixy="0.00000424511021" ixz="0.00000000510599" iyy="0.00003722899093" iyz="0.00000000123525" izz="0.00005482106541"/>
1171
- </inertial>
1172
- <visual>
1173
- <origin xyz="0 0 0" rpy="0 0 0"/>
1174
- <geometry>
1175
- <mesh filename="meshes/right_wrist_roll_link.stl"/>
1176
- </geometry>
1177
- <material name="white">
1178
- <color rgba="0.7 0.7 0.7 1"/>
1179
- </material>
1180
- </visual>
1181
- <collision>
1182
- <origin xyz="0 0 0" rpy="0 0 0"/>
1183
- <geometry>
1184
- <mesh filename="meshes/right_wrist_roll_link.stl"/>
1185
- </geometry>
1186
- </collision>
1187
- </link>
1188
- <joint name="right_wrist_pitch_joint" type="revolute">
1189
- <origin xyz="0.038 0 0" rpy="0 0 0"/>
1190
- <axis xyz="0 1 0"/>
1191
- <parent link="right_wrist_roll_link"/>
1192
- <child link="right_wrist_pitch_link"/>
1193
- <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
1194
- </joint>
1195
- <link name="right_wrist_pitch_link">
1196
- <inertial>
1197
- <origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0 0 0"/>
1198
- <mass value="0.48404956"/>
1199
- <inertia ixx="0.00016579646273" ixy="0.00001231206746" ixz="0.00001231699194" iyy="0.00042954057410" iyz="-0.00000081417712" izz="0.00042953697654"/>
1200
- </inertial>
1201
- <visual>
1202
- <origin xyz="0 0 0" rpy="0 0 0"/>
1203
- <geometry>
1204
- <mesh filename="meshes/right_wrist_pitch_link.stl"/>
1205
- </geometry>
1206
- <material name="white">
1207
- <color rgba="0.7 0.7 0.7 1"/>
1208
- </material>
1209
- </visual>
1210
- <collision>
1211
- <origin xyz="0 0 0" rpy="0 0 0"/>
1212
- <geometry>
1213
- <mesh filename="meshes/right_wrist_pitch_link.stl"/>
1214
- </geometry>
1215
- </collision>
1216
- </link>
1217
- <joint name="right_wrist_yaw_joint" type="revolute">
1218
- <origin xyz="0.046 0 0" rpy="0 0 0"/>
1219
- <axis xyz="0 0 1"/>
1220
- <parent link="right_wrist_pitch_link"/>
1221
- <child link="right_wrist_yaw_link"/>
1222
- <limit effort="5" velocity="22" lower="-1.614429558" upper="1.614429558"/>
1223
- </joint>
1224
- <link name="right_wrist_yaw_link">
1225
- <inertial>
1226
- <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0 0 0"/>
1227
- <mass value="0.08457647"/>
1228
- <inertia ixx="0.00004929128828" ixy="0.00000045735494" ixz="0.00000445867591" iyy="0.00005973338134" iyz="-0.00000043217198" izz="0.00003928083826"/>
1229
- </inertial>
1230
- <visual>
1231
- <origin xyz="0 0 0" rpy="0 0 0"/>
1232
- <geometry>
1233
- <mesh filename="meshes/right_wrist_yaw_link.stl"/>
1234
- </geometry>
1235
- <material name="white">
1236
- <color rgba="0.7 0.7 0.7 1"/>
1237
- </material>
1238
- </visual>
1239
- <collision>
1240
- <origin xyz="0 0 0" rpy="0 0 0"/>
1241
- <geometry>
1242
- <mesh filename="meshes/right_wrist_yaw_link.stl"/>
1243
- </geometry>
1244
- </collision>
1245
- </link>
1246
- <joint name="right_hand_palm_joint" type="fixed">
1247
- <origin xyz="0.0415 -0.003 0" rpy="0 0 0"/>
1248
- <parent link="right_wrist_yaw_link"/>
1249
- <child link="right_hand_palm_link"/>
1250
- </joint>
1251
- <link name="right_hand_palm_link">
1252
- <inertial>
1253
- <origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="0 0 0"/>
1254
- <mass value="0.37283854"/>
1255
- <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
1256
- </inertial>
1257
- <visual>
1258
- <origin xyz="0 0 0" rpy="0 0 0"/>
1259
- <geometry>
1260
- <mesh filename="meshes/right_hand_palm_link.stl"/>
1261
- </geometry>
1262
- <material name="white">
1263
- <color rgba="0.7 0.7 0.7 1"/>
1264
- </material>
1265
- </visual>
1266
- <collision>
1267
- <origin xyz="0 0 0" rpy="0 0 0"/>
1268
- <geometry>
1269
- <mesh filename="meshes/right_hand_palm_link.stl"/>
1270
- </geometry>
1271
- </collision>
1272
- </link>
1273
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1274
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