mirror of
https://github.com/osrf/gazebo_models.git
synced 2025-09-15 12:58:56 +08:00
2461 lines
70 KiB
XML
2461 lines
70 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="irobot_hand">
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<static>false</static>
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<link name="base_link">
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<inertial>
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<mass>0.1</mass>
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<inertia>
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<ixx>0.001000</ixx>
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<iyy>0.001000</iyy>
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<iyz>0</iyz>
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<izz>0.001000</izz>
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</inertia>
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</inertial>
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<collision name="collision1">
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<pose>0 0.02 0.045 0 0 0</pose>
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<geometry>
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<box>
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<size>0.114 0.1 0.075</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision2">
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<pose>0 -0.02 0.045 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.0448</radius>
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<length>0.075</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="base_link_vis">
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<pose>0 -0.038000 -0.023000 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://irobot_hand/meshes/palm.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="finger0/base_rotation_link">
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<pose>0.030750 0.038000 0.069477 0 0 0</pose>
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<inertial>
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<mass>0.1</mass>
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<iyz>0</iyz>
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<izz>0.001000</izz>
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</inertia>
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</inertial>
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<collision name="collision_1">
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<pose>0 0 -.0025 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.025</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name="collision_2">
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<pose>0 0 -.0104 0 0 0</pose>
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<geometry>
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</geometry>
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</collision>
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<collision name="collision_3">
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<pose>0 0 .0135 1.5707 0 1.5707</pose>
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<geometry>
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<cylinder>
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<radius>0.002</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name="collision_4">
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<pose>0.013 0 .0135 1.5707 0 1.5707</pose>
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<geometry>
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<cylinder>
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<radius>0.009</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name="collision_5">
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<pose>-0.013 0 .0135 1.5707 0 1.5707</pose>
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<geometry>
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<radius>0.009</radius>
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</cylinder>
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</geometry>
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</collision>
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<visual name="finger0/base_rotation_link_vis">
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<pose>0 0 0 1.57 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://irobot_hand/meshes/finger_base.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="finger0/proximal_link">
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<pose>0.030750 0.038000 0.082977 1.57 0 -3.140000</pose>
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<inertial>
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<mass>0.1</mass>
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<inertia>
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<iyy>0.001000</iyy>
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<iyz>0</iyz>
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<izz>0.001000</izz>
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</inertia>
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</inertial>
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<collision name="collision1">
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<pose>0 0.0028 0.033 0 0 0</pose>
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<geometry>
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<box>
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<size>0.018 0.019 0.055</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision2">
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<pose>0 0 0 0 1.5707 0</pose>
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<geometry>
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<radius>0.009</radius>
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<length>0.018</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<pose>0 0 0 1.57 -1.57 0</pose>
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<geometry>
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<mesh>
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<uri>model://irobot_hand/meshes/finger_proximal.stl</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="finger0/flexible_link_hidden_between_proximal_link_and_1">
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<pose>0.030651 0.1 0.083026 1.57 0 -3.140000</pose>
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<inertial>
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<mass>0.1</mass>
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<iyz>0</iyz>
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<izz>0.001000</izz>
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</inertia>
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</inertial>
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</link>
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<link name="finger0/flexible_link_1">
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<pose>0.030651 0.1 0.083026 1.57 0 -3.140000</pose>
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<inertial>
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<mass>0.1</mass>
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<iyz>0</iyz>
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<izz>0.001000</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0 0 0 1.57 0 0</pose>
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<geometry>
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<box>
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</box>
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</collision>
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<visual name="visual">
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<pose>0 0 0 1.57 0 0</pose>
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<geometry>
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<box>
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</box>
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</geometry>
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</visual>
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</link>
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<link name="finger0/flexible_link_hidden_between_1_and_2">
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<pose>0.030648 0.101778 0.083028 1.57 0 -3.140000</pose>
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<inertial>
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<mass>0.1</mass>
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</inertia>
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</link>
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<link name="finger0/flexible_link_2">
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<pose>0.030648 0.101778 0.083028 1.57 0 -3.140000</pose>
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<inertial>
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<mass>0.1</mass>
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<collision name="collision">
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<geometry>
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<visual name="visual">
|
|
<pose>0 0 0 1.57 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.014000 0.001760 0.006000</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<link name="finger2/flexible_link_hidden_between_7_and_8">
|
|
<pose>0 -0.112444 0.082814 1.57 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<ixx>0.001000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.001000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.001000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
</link>
|
|
<link name="finger2/flexible_link_8">
|
|
<pose>0 -0.112444 0.082814 1.57 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<ixx>0.001000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.001000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.001000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0 0 0 1.57 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.014000 0.001760 0.006000</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0 0 0 1.57 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.014000 0.001760 0.006000</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<link name="finger2/flexible_link_hidden_between_8_and_9">
|
|
<pose>0 -0.114222 0.082816 1.57 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<ixx>0.001000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.001000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.001000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
</link>
|
|
<link name="finger2/flexible_link_9">
|
|
<pose>0 -0.114222 0.082816 1.57 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<ixx>0.001000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.001000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.001000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0 0 0 1.57 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.014000 0.001760 0.006000</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0 0 0 1.57 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.014000 0.001760 0.006000</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<link name="finger2/flexible_link_hidden_between_9_and_distal_link">
|
|
<pose>0 -0.116000 0.082817 1.57 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<ixx>0.001000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.001000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.001000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
</link>
|
|
<link name="finger2/distal_link">
|
|
<pose>0 -0.116000 0.082817 1.57 0 0</pose>
|
|
<inertial>
|
|
<mass>0.1</mass>
|
|
<inertia>
|
|
<ixx>0.001000</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>0.001000</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>0.001000</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<pose>0 0.0025 0.019 3.141590 0.001593 3.141590</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.0175 0.02023 0.04043</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
<visual name="visual">
|
|
<pose>0 0 0 3.141590 0.001593 3.141590</pose>
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://irobot_hand/meshes/finger_distal.stl</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
<joint name="finger0/joint_base_rotation" type="revolute">
|
|
<child>finger0/base_rotation_link</child>
|
|
<parent>base_link</parent>
|
|
<axis>
|
|
<xyz>0 0 -1</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/joint_base" type="revolute">
|
|
<child>finger0/proximal_link</child>
|
|
<parent>finger0/base_rotation_link</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_proximal_to_1" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_proximal_link_and_1</child>
|
|
<parent>finger0/proximal_link</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_proximal_to_1" type="revolute">
|
|
<child>finger0/flexible_link_1</child>
|
|
<parent>finger0/flexible_link_hidden_between_proximal_link_and_1</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_1_to_2" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_1_and_2</child>
|
|
<parent>finger0/flexible_link_1</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_1_to_2" type="revolute">
|
|
<child>finger0/flexible_link_2</child>
|
|
<parent>finger0/flexible_link_hidden_between_1_and_2</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_2_to_3" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_2_and_3</child>
|
|
<parent>finger0/flexible_link_2</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_2_to_3" type="revolute">
|
|
<child>finger0/flexible_link_3</child>
|
|
<parent>finger0/flexible_link_hidden_between_2_and_3</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_3_to_4" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_3_and_4</child>
|
|
<parent>finger0/flexible_link_3</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_4_to_5" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_4_and_5</child>
|
|
<parent>finger0/flexible_link_4</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_3_to_4" type="revolute">
|
|
<child>finger0/flexible_link_4</child>
|
|
<parent>finger0/flexible_link_hidden_between_3_and_4</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_4_to_5" type="revolute">
|
|
<child>finger0/flexible_link_5</child>
|
|
<parent>finger0/flexible_link_hidden_between_4_and_5</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_5_to_6" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_5_and_6</child>
|
|
<parent>finger0/flexible_link_5</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_5_to_6" type="revolute">
|
|
<child>finger0/flexible_link_6</child>
|
|
<parent>finger0/flexible_link_hidden_between_5_and_6</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_6_to_7" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_6_and_7</child>
|
|
<parent>finger0/flexible_link_6</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_6_to_7" type="revolute">
|
|
<child>finger0/flexible_link_7</child>
|
|
<parent>finger0/flexible_link_hidden_between_6_and_7</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_7_to_8" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_7_and_8</child>
|
|
<parent>finger0/flexible_link_7</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_7_to_8" type="revolute">
|
|
<child>finger0/flexible_link_8</child>
|
|
<parent>finger0/flexible_link_hidden_between_7_and_8</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_8_to_9" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_8_and_9</child>
|
|
<parent>finger0/flexible_link_8</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_flex_from_9_to_distal" type="revolute">
|
|
<child>finger0/flexible_link_hidden_between_9_and_distal_link</child>
|
|
<parent>finger0/flexible_link_9</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_8_to_9" type="revolute">
|
|
<child>finger0/flexible_link_9</child>
|
|
<parent>finger0/flexible_link_hidden_between_8_and_9</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger0/flexible_joint_twist_from_9_to_distal" type="revolute">
|
|
<child>finger0/distal_link</child>
|
|
<parent>finger0/flexible_link_hidden_between_9_and_distal_link</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/joint_base_rotation" type="revolute">
|
|
<child>finger1/base_rotation_link</child>
|
|
<parent>base_link</parent>
|
|
<axis>
|
|
<xyz>0 0 1</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/joint_base" type="revolute">
|
|
<child>finger1/proximal_link</child>
|
|
<parent>finger1/base_rotation_link</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_proximal_to_1" type="revolute">
|
|
<child>finger1/flexible_link_1</child>
|
|
<parent>finger1/flexible_link_hidden_between_proximal_link_and_1</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_proximal_to_1" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_proximal_link_and_1</child>
|
|
<parent>finger1/proximal_link</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_1_to_2" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_1_and_2</child>
|
|
<parent>finger1/flexible_link_1</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_1_to_2" type="revolute">
|
|
<child>finger1/flexible_link_2</child>
|
|
<parent>finger1/flexible_link_hidden_between_1_and_2</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_2_to_3" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_2_and_3</child>
|
|
<parent>finger1/flexible_link_2</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_2_to_3" type="revolute">
|
|
<child>finger1/flexible_link_3</child>
|
|
<parent>finger1/flexible_link_hidden_between_2_and_3</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_3_to_4" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_3_and_4</child>
|
|
<parent>finger1/flexible_link_3</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_3_to_4" type="revolute">
|
|
<child>finger1/flexible_link_4</child>
|
|
<parent>finger1/flexible_link_hidden_between_3_and_4</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_4_to_5" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_4_and_5</child>
|
|
<parent>finger1/flexible_link_4</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_4_to_5" type="revolute">
|
|
<child>finger1/flexible_link_5</child>
|
|
<parent>finger1/flexible_link_hidden_between_4_and_5</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_5_to_6" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_5_and_6</child>
|
|
<parent>finger1/flexible_link_5</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_5_to_6" type="revolute">
|
|
<child>finger1/flexible_link_6</child>
|
|
<parent>finger1/flexible_link_hidden_between_5_and_6</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_6_to_7" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_6_and_7</child>
|
|
<parent>finger1/flexible_link_6</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_6_to_7" type="revolute">
|
|
<child>finger1/flexible_link_7</child>
|
|
<parent>finger1/flexible_link_hidden_between_6_and_7</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_7_to_8" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_7_and_8</child>
|
|
<parent>finger1/flexible_link_7</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_7_to_8" type="revolute">
|
|
<child>finger1/flexible_link_8</child>
|
|
<parent>finger1/flexible_link_hidden_between_7_and_8</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_8_to_9" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_8_and_9</child>
|
|
<parent>finger1/flexible_link_8</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_8_to_9" type="revolute">
|
|
<child>finger1/flexible_link_9</child>
|
|
<parent>finger1/flexible_link_hidden_between_8_and_9</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_flex_from_9_to_distal" type="revolute">
|
|
<child>finger1/flexible_link_hidden_between_9_and_distal_link</child>
|
|
<parent>finger1/flexible_link_9</parent>
|
|
<axis>
|
|
<xyz>0.999999 0.001593 -0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger1/flexible_joint_twist_from_9_to_distal" type="revolute">
|
|
<child>finger1/distal_link</child>
|
|
<parent>finger1/flexible_link_hidden_between_9_and_distal_link</parent>
|
|
<axis>
|
|
<xyz>-0.001593 0.999998 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/joint_base" type="revolute">
|
|
<child>finger2/proximal_link</child>
|
|
<parent>base_link</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_proximal_to_1" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_proximal_link_and_1</child>
|
|
<parent>finger2/proximal_link</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_proximal_to_1" type="revolute">
|
|
<child>finger2/flexible_link_1</child>
|
|
<parent>finger2/flexible_link_hidden_between_proximal_link_and_1</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_1_to_2" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_1_and_2</child>
|
|
<parent>finger2/flexible_link_1</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_1_to_2" type="revolute">
|
|
<child>finger2/flexible_link_2</child>
|
|
<parent>finger2/flexible_link_hidden_between_1_and_2</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_2_to_3" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_2_and_3</child>
|
|
<parent>finger2/flexible_link_2</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_2_to_3" type="revolute">
|
|
<child>finger2/flexible_link_3</child>
|
|
<parent>finger2/flexible_link_hidden_between_2_and_3</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_3_to_4" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_3_and_4</child>
|
|
<parent>finger2/flexible_link_3</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_3_to_4" type="revolute">
|
|
<child>finger2/flexible_link_4</child>
|
|
<parent>finger2/flexible_link_hidden_between_3_and_4</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_4_to_5" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_4_and_5</child>
|
|
<parent>finger2/flexible_link_4</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_4_to_5" type="revolute">
|
|
<child>finger2/flexible_link_5</child>
|
|
<parent>finger2/flexible_link_hidden_between_4_and_5</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_5_to_6" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_5_and_6</child>
|
|
<parent>finger2/flexible_link_5</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_5_to_6" type="revolute">
|
|
<child>finger2/flexible_link_6</child>
|
|
<parent>finger2/flexible_link_hidden_between_5_and_6</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_6_to_7" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_6_and_7</child>
|
|
<parent>finger2/flexible_link_6</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_6_to_7" type="revolute">
|
|
<child>finger2/flexible_link_7</child>
|
|
<parent>finger2/flexible_link_hidden_between_6_and_7</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_7_to_8" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_7_and_8</child>
|
|
<parent>finger2/flexible_link_7</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_7_to_8" type="revolute">
|
|
<child>finger2/flexible_link_8</child>
|
|
<parent>finger2/flexible_link_hidden_between_7_and_8</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_8_to_9" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_8_and_9</child>
|
|
<parent>finger2/flexible_link_8</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_8_to_9" type="revolute">
|
|
<child>finger2/flexible_link_9</child>
|
|
<parent>finger2/flexible_link_hidden_between_8_and_9</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_flex_from_9_to_distal" type="revolute">
|
|
<child>finger2/flexible_link_hidden_between_9_and_distal_link</child>
|
|
<parent>finger2/flexible_link_9</parent>
|
|
<axis>
|
|
<xyz>-1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
<joint name="finger2/flexible_joint_twist_from_9_to_distal" type="revolute">
|
|
<child>finger2/distal_link</child>
|
|
<parent>finger2/flexible_link_hidden_between_9_and_distal_link</parent>
|
|
<axis>
|
|
<xyz>0 -1 0.000796</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>1.57</upper>
|
|
</limit>
|
|
<dynamics />
|
|
<use_parent_model_frame>true</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
</model>
|
|
</sdf>
|