1
<robot name="shadowhand">
2
<link name="shadow_forearm">
6
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0" izz="1.0" />
9
<origin xyz="0 0 0" rpy="3.142 0 0" />
10
<geometry name="shadow_forearm_geom">
11
<mesh filename="package://sr_hand/model/meshes/forearm_muscle.mesh" scale="0.016 0.016 0.016" />
13
<material name="shadow_forearm_material">
14
<color rgba="0.2 0.2 0.2 0.6"/>
18
<origin xyz="0 0 0.175" rpy="0 0 0" />
19
<geometry name="shadow_forearm_collision">
20
<cylinder radius="0.07" length="0.350"/>
24
<gazebo reference="shadow_forearm">
25
<material>Gazebo/GrassFloor</material>
31
<origin xyz="0 0 0.396" rpy="0 0 6.284" />
33
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
37
<origin xyz="0 0 0" rpy="1.571 0 0" />
38
<geometry name="wrist_visual">
39
<mesh filename="package://sr_hand/model/meshes/wrist.mesh" scale="0.001 0.001 0.001" />
41
<material name="shadow_wrist_material">
42
<color rgba="0.7 0.7 0.7 1.0"/>
46
<origin xyz="0 0 0" rpy="0 0 0" />
47
<geometry name="wrist_collision_geom">
48
<box size="0.02 0.02 0.02" />
52
<gazebo reference="wrist">
53
<material>Gazebo/GrassFloor</material>
59
<origin xyz="0 0.010 0.247" rpy="0 0 0" />
61
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
65
<origin xyz="0 0 0" rpy="0 4.713 0" />
66
<geometry name="palm_visual">
67
<mesh filename="package://sr_hand/model/meshes/palm.mesh" scale="0.001 0.001 0.001" />
69
<material name="shadow_palm_material">
70
<color rgba="0.2 0.2 0.2 1.0"/>
74
<origin xyz="0.005 0 0.035" rpy="0 0 0" />
75
<geometry name="palm_collision_geom">
76
<box size="0.05 0.02 0.07" />
80
<gazebo reference="palm">
81
<material>Gazebo/GrassFloor</material>
86
<link name="ffknuckle">
88
<origin xyz="0.033 0 0.095" rpy="0 0 0" />
89
<mass value="0.008" />
90
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
94
<origin xyz="0 0 0.0005" rpy="3.142 4.713 1.571" />
95
<geometry name="ffknuckle_visual">
96
<mesh filename="package://sr_hand/model/meshes/knuckle.mesh" scale="0.001 0.001 0.001" />
98
<material name="shadow_knuckle_material">
99
<color rgba="0.7 0.7 0.7 1.0"/>
103
<origin xyz="0 0 0" rpy="0 0 0" />
104
<geometry name="ffknuckle_collision_geom">
105
<box size="0.005 0.005 0.005" />
109
<gazebo reference="ffknuckle">
110
<material>Gazebo/GrassFloor</material>
114
<link name="ffproximal">
116
<mass value="0.008" />
117
<origin xyz="0 0 0" />
118
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
122
<origin xyz="0 0 0" rpy="0 4.713 1.571" />
123
<geometry name="ffproximal_visual">
124
<mesh filename="package://sr_hand/model/meshes/F3.mesh" scale="0.001 0.001 0.001" />
126
<material name="shadow_ffproximal_material">
127
<color rgba="0.2 0.2 0.2 1.0"/>
131
<origin xyz="0 0 0.0225" rpy="0 0 0 " />
132
<geometry name="ffproximal_collision_geom">
133
<box size="0.005 0.005 0.04" />
137
<gazebo reference="ffproximal">
138
<material>Gazebo/GrassFloor</material>
142
<link name="ffmiddle">
144
<origin xyz="0 0 0.045" rpy="0 0 0" />
145
<mass value="0.008" />
146
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
150
<origin xyz="0 0 0" rpy="0 4.713 0" />
151
<geometry name="ffmiddle_visual">
152
<mesh filename="package://sr_hand/model/meshes/F2.mesh" scale="0.001 0.001 0.001" />
154
<material name="shadow_ffmiddle_material">
155
<color rgba="0.2 0.2 0.2 1.0"/>
159
<origin xyz="0 0 0.0125" rpy="0 0 0" />
160
<geometry name="ffmiddle_collision_geom">
161
<box size="0.005 0.005 0.010" />
165
<gazebo reference="ffmiddle">
166
<material>Gazebo/GrassFloor</material>
170
<link name="ffdistal">
172
<mass value="0.008" />
173
<origin xyz="0 0 0.025" />
174
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
178
<origin xyz="0 0 0" rpy="0 4.713 0" />
179
<geometry name="ffdistal_visual">
180
<mesh filename="package://sr_hand/model/meshes/F1.mesh" scale="0.001 0.001 0.001" />
182
<material name="shadow_ffdistal_material">
183
<color rgba="0.2 0.2 0.2 1.0"/>
187
<origin xyz="0 0 0.02" rpy="0 0 0 " />
188
<geometry name="ffdistal_collision_geom">
189
<box size="0.015 0.015 0.020" />
193
<gazebo reference="ffdistal">
194
<material>Gazebo/GrassFloor</material>
198
<!-- MIDDLE FINGER-->
199
<link name="mfknuckle">
201
<origin xyz="0.011 0 0.099" rpy="0 0 0" />
202
<mass value="0.008" />
203
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
207
<origin xyz="0 0 0.0005" rpy="3.142 4.713 -1.571" />
208
<geometry name="mfknuckle_visual">
209
<mesh filename="package://sr_hand/model/meshes/knuckle.mesh" scale="0.001 0.001 0.001" />
211
<material name="shadow_knuckle_material">
212
<color rgba="0.7 0.7 0.7 1.0"/>
216
<origin xyz="0 0 0" rpy="0 0 0" />
217
<geometry name="mfknuckle_collision_geom">
218
<box size="0.005 0.005 0.005" />
222
<gazebo reference="mfknuckle">
223
<material>Gazebo/GrassFloor</material>
227
<link name="mfproximal">
229
<mass value="0.008" />
230
<origin xyz="0 0 0" />
231
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
235
<origin xyz="0 0 0" rpy="0 4.713 1.571" />
236
<geometry name="mfproximal_visual">
237
<mesh filename="package://sr_hand/model/meshes/F3.mesh" scale="0.001 0.001 0.001" />
239
<material name="shadow_mfproximal_material">
240
<color rgba="0.2 0.2 0.2 1.0"/>
244
<origin xyz="0 0 0.0225" rpy="0 0 0 " />
245
<geometry name="mfproximal_collision_geom">
246
<box size="0.005 0.005 0.04" />
250
<gazebo reference="mfproximal">
251
<material>Gazebo/GrassFloor</material>
255
<link name="mfmiddle">
257
<origin xyz="0 0 0.045" rpy="0 0 0" />
258
<mass value="0.008" />
259
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
263
<origin xyz="0 0 0" rpy="0 4.713 0" />
264
<geometry name="mfmiddle_visual">
265
<mesh filename="package://sr_hand/model/meshes/F2.mesh" scale="0.001 0.001 0.001" />
267
<material name="shadow_mfmiddle_material">
268
<color rgba="0.2 0.2 0.2 1.0"/>
272
<origin xyz="0 0 0.0125" rpy="0 0 0" />
273
<geometry name="mfmiddle_collision_geom">
274
<box size="0.005 0.005 0.010" />
278
<gazebo reference="mfmiddle">
279
<material>Gazebo/GrassFloor</material>
283
<link name="mfdistal">
285
<mass value="0.008" />
286
<origin xyz="0 0 0.025" />
287
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
291
<origin xyz="0 0 0" rpy="0 4.713 0" />
292
<geometry name="mfdistal_visual">
293
<mesh filename="package://sr_hand/model/meshes/F1.mesh" scale="0.001 0.001 0.001" />
295
<material name="shadow_mfdistal_material">
296
<color rgba="0.2 0.2 0.2 1.0"/>
300
<origin xyz="0 0 0.02" rpy="0 0 0 " />
301
<geometry name="mfdistal_collision_geom">
302
<box size="0.015 0.015 0.020" />
306
<gazebo reference="mfdistal">
307
<material>Gazebo/GrassFloor</material>
312
<link name="rfknuckle">
314
<origin xyz="-0.011 0 0.095" rpy="0 0 0" />
315
<mass value="0.008" />
316
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
320
<origin xyz="0 0 0.0005" rpy="3.142 4.713 -1.571" />
321
<geometry name="rfknuckle_visual">
322
<mesh filename="package://sr_hand/model/meshes/knuckle.mesh" scale="0.001 0.001 0.001" />
324
<material name="shadow_knuckle_material">
325
<color rgba="0.7 0.7 0.7 1.0"/>
329
<origin xyz="0 0 0" rpy="0 0 0" />
330
<geometry name="rfknuckle_collision_geom">
331
<box size="0.005 0.005 0.005" />
335
<gazebo reference="rfknuckle">
336
<material>Gazebo/GrassFloor</material>
340
<link name="rfproximal">
342
<mass value="0.008" />
343
<origin xyz="0 0 0" />
344
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
348
<origin xyz="0 0 0" rpy="0 4.713 1.571" />
349
<geometry name="rfproximal_visual">
350
<mesh filename="package://sr_hand/model/meshes/F3.mesh" scale="0.001 0.001 0.001" />
352
<material name="shadow_rfproximal_material">
353
<color rgba="0.2 0.2 0.2 1.0"/>
357
<origin xyz="0 0 0.0225" rpy="0 0 0 " />
358
<geometry name="rfproximal_collision_geom">
359
<box size="0.005 0.005 0.04" />
363
<gazebo reference="rfproximal">
364
<material>Gazebo/GrassFloor</material>
368
<link name="rfmiddle">
370
<origin xyz="0 0 0.045" rpy="0 0 0" />
371
<mass value="0.008" />
372
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
376
<origin xyz="0 0 0" rpy="0 4.713 0" />
377
<geometry name="rfmiddle_visual">
378
<mesh filename="package://sr_hand/model/meshes/F2.mesh" scale="0.001 0.001 0.001" />
380
<material name="shadow_rfmiddle_material">
381
<color rgba="0.2 0.2 0.2 1.0"/>
385
<origin xyz="0 0 0.0125" rpy="0 0 0" />
386
<geometry name="rfmiddle_collision_geom">
387
<box size="0.005 0.005 0.010" />
391
<gazebo reference="rfmiddle">
392
<material>Gazebo/GrassFloor</material>
396
<link name="rfdistal">
398
<mass value="0.008" />
399
<origin xyz="0 0 0.025" />
400
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
404
<origin xyz="0 0 0" rpy="0 4.713 0" />
405
<geometry name="rfdistal_visual">
406
<mesh filename="package://sr_hand/model/meshes/F1.mesh" scale="0.001 0.001 0.001" />
408
<material name="shadow_rfdistal_material">
409
<color rgba="0.2 0.2 0.2 1.0"/>
413
<origin xyz="0 0 0.02" rpy="0 0 0 " />
414
<geometry name="rfdistal_collision_geom">
415
<box size="0.015 0.015 0.020" />
419
<gazebo reference="rfdistal">
420
<material>Gazebo/GrassFloor</material>
425
<!-- LITTLE FINGER-->
426
<link name="lfmetacarpal">
428
<origin xyz="0.00568 0 -0.12061" rpy="0 0 0" />
429
<mass value="0.008" />
430
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
434
<origin xyz="0 0 0" rpy="0 4.713 0" />
435
<geometry name="lfmetacarpal_visual">
436
<mesh filename="package://sr_hand/model/meshes/lfmetacarpal.mesh" scale="0.001 0.001 0.001" />
438
<material name="shadow_lfmetacarpal_material">
439
<color rgba="0.2 0.2 0.2 1.0"/>
443
<origin xyz="-0.015 0 0.015" rpy="0 0 0" />
444
<geometry name="lfmetacarpal_collision_geom">
445
<box size="0.005 0.005 0.03" />
449
<gazebo reference="lfmetacarpal">
450
<material>Gazebo/GrassFloor</material>
454
<link name="lfknuckle">
456
<origin xyz="0 0 0.0425" rpy="0 0 0" />
457
<mass value="0.008" />
458
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
462
<origin xyz="0 0 0.0005" rpy="3.142 4.713 -1.571" />
463
<geometry name="lfknuckle_visual">
464
<mesh filename="package://sr_hand/model/meshes/knuckle.mesh" scale="0.001 0.001 0.001" />
466
<material name="shadow_knuckle_material">
467
<color rgba="0.7 0.7 0.7 1.0"/>
471
<origin xyz="0 0 0" rpy="0 0 0" />
472
<geometry name="lfknuckle_collision_geom">
473
<box size="0.005 0.005 0.005" />
477
<gazebo reference="lfknuckle">
478
<material>Gazebo/GrassFloor</material>
482
<link name="lfproximal">
484
<mass value="0.008" />
485
<origin xyz="0 0 0" />
486
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
490
<origin xyz="0 0 0" rpy="0 4.713 1.571" />
491
<geometry name="lfproximal_visual">
492
<mesh filename="package://sr_hand/model/meshes/F3.mesh" scale="0.001 0.001 0.001" />
494
<material name="shadow_lfproximal_material">
495
<color rgba="0.2 0.2 0.2 1.0"/>
499
<origin xyz="0 0 0.0225" rpy="0 0 0 " />
500
<geometry name="lfproximal_collision_geom">
501
<box size="0.005 0.005 0.04" />
505
<gazebo reference="lfproximal">
506
<material>Gazebo/GrassFloor</material>
510
<link name="lfmiddle">
512
<origin xyz="0 0 0.045" rpy="0 0 0" />
513
<mass value="0.008" />
514
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
518
<origin xyz="0 0 0" rpy="0 4.713 0" />
519
<geometry name="lfmiddle_visual">
520
<mesh filename="package://sr_hand/model/meshes/F2.mesh" scale="0.001 0.001 0.001" />
522
<material name="shadow_lfmiddle_material">
523
<color rgba="0.2 0.2 0.2 1.0"/>
527
<origin xyz="0 0 0.0125" rpy="0 0 0" />
528
<geometry name="lfmiddle_collision_geom">
529
<box size="0.005 0.005 0.010" />
533
<gazebo reference="lfmiddle">
534
<material>Gazebo/GrassFloor</material>
538
<link name="lfdistal">
540
<mass value="0.008" />
541
<origin xyz="0 0 0.025" />
542
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
546
<origin xyz="0 0 0" rpy="0 4.713 0" />
547
<geometry name="lfdistal_visual">
548
<mesh filename="package://sr_hand/model/meshes/F1.mesh" scale="0.001 0.001 0.001" />
550
<material name="shadow_lfdistal_material">
551
<color rgba="0.2 0.2 0.2 1.0"/>
555
<origin xyz="0 0 0.02" rpy="0 0 0 " />
556
<geometry name="lfdistal_collision_geom">
557
<box size="0.015 0.015 0.020" />
561
<gazebo reference="lfdistal">
562
<material>Gazebo/GrassFloor</material>
571
<mass value="0.008" />
572
<origin xyz="0.034 0.0085 0.02924" rpy="0 0 0"/>
573
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
577
<origin xyz="0 0 0" rpy="0 0 0" />
578
<geometry name="thbase_visual">
579
<box size="0.001 0.001 0.001" />
581
<material name="shadow_thbase_material">
582
<color rgba="0.5 0.5 0.5 1.0"/>
586
<origin xyz="0 0 0" rpy="0 0 0 " />
587
<geometry name="thbase_collision_geom">
588
<box size="0.001 0.001 0.001" />
592
<gazebo reference="thbase">
593
<material>Gazebo/GrassFloor</material>
597
<link name="thproximal">
599
<mass value="0.008" />
600
<origin xyz="0 0 0" rpy="0 -0.7855 0"/>
601
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
605
<origin xyz="0 0 0" rpy="0 0 0" />
606
<geometry name="thproximal_visual">
607
<mesh filename="package://sr_hand/model/meshes/TH3_z.mesh" scale="0.01 0.01 0.01" />
609
<material name="shadow_thproximal_material">
610
<color rgba="0.2 0.2 0.2 1.0"/>
614
<origin xyz="0 0 0.02" rpy="0 0 0" />
615
<geometry name="thproximal_collision_geom">
616
<box size="0.005 0.005 0.02" />
620
<gazebo reference="thproximal">
621
<material>Gazebo/GrassFloor</material>
627
<mass value="0.008" />
628
<origin xyz="0.02687 0 0.02687" rpy="0 0 0"/>
629
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
633
<origin xyz="0 0 0" rpy="0 0 0" />
634
<geometry name="thhub_visual">
635
<box size="0.001 0.001 0.001" />
637
<material name="shadow_thhub_material">
638
<color rgba="0.7 0.7 0.7 1.0"/>
642
<origin xyz="0 0 0" rpy="0 0 0 " />
643
<geometry name="thhub_collision_geom">
644
<box size="0.001 0.001 0.001" />
648
<gazebo reference="thhub">
649
<material>Gazebo/GrassFloor</material>
653
<link name="thmiddle">
655
<mass value="0.008" />
656
<origin xyz="0 0 0" rpy="0 -0.7855 0"/>
657
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
661
<origin xyz="0 0 0" rpy="0 -1.571 0" />
662
<geometry name="thmiddle_visual">
663
<mesh filename="package://sr_hand/model/meshes/TH2_z.mesh" scale="0.001 0.001 0.001" />
665
<material name="shadow_thmiddle_material">
666
<color rgba="0.2 0.2 0.2 1.0"/>
670
<origin xyz="0 0 0.025" rpy="0 0 0 " />
671
<geometry name="thmiddle_collision_geom">
672
<box size="0.005 0.005 0.015" />
676
<gazebo reference="thmiddle">
677
<material>Gazebo/GrassFloor</material>
681
<link name="thdistal">
683
<mass value="0.008" />
684
<origin xyz="-0.02263 0 0.02263" rpy="0 -0.7855 0"/>
685
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="100.0" iyz="0.0"
689
<origin xyz="0 0 0" rpy="3.142 -1.571 3.142" />
690
<geometry name="thdistal_visual">
691
<mesh filename="package://sr_hand/model/meshes/TH1_z.mesh" scale="0.001 0.001 0.001" />
693
<material name="shadow_thmiddle_material">
694
<color rgba="0.2 0.2 0.2 1.0"/>
698
<origin xyz="0 0 0.025" rpy="0 0 0 " />
699
<geometry name="thmiddle_collision_geom">
700
<box size="0.015 0.015 0.015" />
704
<gazebo reference="thdistal">
705
<material>Gazebo/GrassFloor</material>
710
<!--------------------------------
712
--------------------------------->
714
<joint name="elbow" type="revolute">
715
<parent link="world"/>
716
<child link="shadow_forearm"/>
717
<origin xyz="0 0 0" rpy="0 0 0" />
719
<limit lower="-1.5707963267948966" upper="1.5707963267948966"
720
effort="10" velocity="1.0"/>
723
<joint name="WRJ2" type="revolute">
724
<parent link="shadow_forearm"/>
725
<child link="wrist"/>
726
<origin xyz="0 0 0.396" rpy="0 0 0" />
728
<limit lower="-0.52359877559829882" upper="0.17453292519943295"
729
effort="10" velocity="1.0"/>
731
<gazebo reference="WRJ2">
732
<material>Gazebo/GrassFloor</material>
736
<joint name="WRJ1" type="revolute">
737
<parent link="wrist"/>
739
<origin xyz="0 0 0.034" rpy="0 0 0" />
741
<limit lower="-0.78539816339744828" upper="0.6108652381980153"
742
effort="10" velocity="1.0"/>
744
<gazebo reference="WRJ1">
745
<material>Gazebo/GrassFloor</material>
751
<joint name="FFJ4" type="revolute">
752
<parent link="palm"/>
753
<child link="ffknuckle"/>
754
<origin xyz="0.033 0 0.095" rpy="0 0 0" />
755
<axis xyz="0 -1 0" />
756
<limit lower="-0.43633231299858238" upper="0.43633231299858238"
757
effort="10" velocity="1.0"/>
759
<gazebo reference="FFJ4">
760
<material>Gazebo/GrassFloor</material>
763
<joint name="FFJ3" type="revolute">
764
<parent link="ffknuckle"/>
765
<child link="ffproximal"/>
766
<origin xyz="0 0 0" rpy="0 0 0" />
768
<limit lower="0" upper="1.5707963267948966" effort="10"
771
<gazebo reference="FFJ3">
772
<material>Gazebo/GrassFloor</material>
775
<joint name="FFJ2" type="revolute">
776
<parent link="ffproximal"/>
777
<child link="ffmiddle"/>
778
<origin xyz="0 0 0.045" rpy="0 0 0" />
780
<limit lower="0" upper="1.5707963267948966" effort="10"
783
<gazebo reference="FFJ2">
784
<material>Gazebo/GrassFloor</material>
787
<joint name="FFJ1" type="revolute">
788
<parent link="ffmiddle"/>
789
<child link="ffdistal"/>
790
<origin xyz="0 0 0.025" rpy="0 0 0" />
792
<limit lower="0" upper="1.5707963267948966" effort="10"
795
<gazebo reference="FFJ1">
796
<material>Gazebo/GrassFloor</material>
803
<joint name="MFJ4" type="revolute">
804
<parent link="palm"/>
805
<child link="mfknuckle"/>
806
<origin xyz="0.011 0 0.099" rpy="0 0 0" />
807
<axis xyz="0 -1 0" />
808
<limit lower="-0.43633231299858238" upper="0.43633231299858238"
809
effort="10" velocity="1.0"/>
811
<gazebo reference="MFJ4">
812
<material>Gazebo/GrassFloor</material>
815
<joint name="MFJ3" type="revolute">
816
<parent link="mfknuckle"/>
817
<child link="mfproximal"/>
818
<origin xyz="0 0 0" rpy="0 0 0" />
820
<limit lower="0" upper="1.5707963267948966" effort="10"
823
<gazebo reference="MFJ3">
824
<material>Gazebo/GrassFloor</material>
827
<joint name="MFJ2" type="revolute">
828
<parent link="mfproximal"/>
829
<child link="mfmiddle"/>
830
<origin xyz="0 0 0.045" rpy="0 0 0" />
832
<limit lower="0" upper="1.5707963267948966" effort="10"
835
<gazebo reference="MFJ2">
836
<material>Gazebo/GrassFloor</material>
839
<joint name="MFJ1" type="revolute">
840
<parent link="mfmiddle"/>
841
<child link="mfdistal"/>
842
<origin xyz="0 0 0.025" rpy="0 0 0" />
844
<limit lower="0" upper="1.5707963267948966" effort="10"
847
<gazebo reference="MFJ1">
848
<material>Gazebo/GrassFloor</material>
854
<joint name="RFJ4" type="revolute">
855
<parent link="palm"/>
856
<child link="rfknuckle"/>
857
<origin xyz="-0.011 0 0.095" rpy="0 0 0" />
859
<limit lower="-0.43633231299858238" upper="0.43633231299858238"
860
effort="10" velocity="1.0"/>
862
<gazebo reference="RFJ4">
863
<material>Gazebo/GrassFloor</material>
866
<joint name="RFJ3" type="revolute">
867
<parent link="rfknuckle"/>
868
<child link="rfproximal"/>
869
<origin xyz="0 0 0" rpy="0 0 0" />
871
<limit lower="0" upper="1.5707963267948966" effort="10"
874
<gazebo reference="RFJ3">
875
<material>Gazebo/GrassFloor</material>
878
<joint name="RFJ2" type="revolute">
879
<parent link="rfproximal"/>
880
<child link="rfmiddle"/>
881
<origin xyz="0 0 0.045" rpy="0 0 0" />
883
<limit lower="0" upper="1.5707963267948966" effort="10"
886
<gazebo reference="RFJ2">
887
<material>Gazebo/GrassFloor</material>
890
<joint name="RFJ1" type="revolute">
891
<parent link="rfmiddle"/>
892
<child link="rfdistal"/>
893
<origin xyz="0 0 0.025" rpy="0 0 0" />
895
<limit lower="0" upper="1.5707963267948966" effort="10"
898
<gazebo reference="RFJ1">
899
<material>Gazebo/GrassFloor</material>
906
<joint name="LFJ5" type="revolute">
907
<parent link="palm"/>
908
<child link="lfmetacarpal"/>
909
<origin xyz="-0.01671 0 0.044" rpy="0 0 0" />
910
<axis xyz="0.57 0 0.82" />
911
<limit lower="0" upper="0.69813170079773179" effort="10"
914
<gazebo reference="LFJ5">
915
<material>Gazebo/GrassFloor</material>
918
<joint name="LFJ4" type="revolute">
919
<parent link="lfmetacarpal"/>
920
<child link="lfknuckle"/>
921
<origin xyz="-0.01629 0 0.0425" rpy="0 0 0" />
923
<limit lower="-0.43633231299858238" upper="0.43633231299858238"
924
effort="10" velocity="1.0"/>
926
<gazebo reference="LFJ4">
927
<material>Gazebo/GrassFloor</material>
930
<joint name="LFJ3" type="revolute">
931
<parent link="lfknuckle"/>
932
<child link="lfproximal"/>
933
<origin xyz="0 0 0" rpy="0 0 0" />
935
<limit lower="0" upper="1.5707963267948966" effort="10"
938
<gazebo reference="LFJ3">
939
<material>Gazebo/GrassFloor</material>
942
<joint name="LFJ2" type="revolute">
943
<parent link="lfproximal"/>
944
<child link="lfmiddle"/>
945
<origin xyz="0 0 0.045" rpy="0 0 0" />
947
<limit lower="0" upper="1.5707963267948966" effort="10"
950
<gazebo reference="LFJ2">
951
<material>Gazebo/GrassFloor</material>
954
<joint name="LFJ1" type="revolute">
955
<parent link="lfmiddle"/>
956
<child link="lfdistal"/>
957
<origin xyz="0 0 0.025" rpy="0 0 0" />
959
<limit lower="0" upper="1.5707963267948966" effort="10"
962
<gazebo reference="LFJ1">
963
<material>Gazebo/GrassFloor</material>
970
<joint name="THJ5" type="revolute">
971
<parent link="palm"/>
972
<child link="thbase"/>
973
<origin xyz="0.034 -0.0085 0.02924" rpy="0 0.7855 0" />
974
<axis xyz="0 0 -1" />
975
<limit lower="-1.047" upper="1.047" effort="10"
978
<gazebo reference="THJ5">
979
<material>Gazebo/GrassFloor</material>
982
<joint name="THJ4" type="revolute">
983
<parent link="thbase"/>
984
<child link="thproximal"/>
985
<origin xyz="0 0 0" rpy="0 0 0" />
987
<limit lower="0" upper="1.309" effort="10"
990
<gazebo reference="THJ4">
991
<material>Gazebo/GrassFloor</material>
994
<joint name="THJ3" type="revolute">
995
<parent link="thproximal"/>
996
<child link="thhub"/>
997
<origin xyz="0 0 0.038" rpy="0 0 0" />
999
<limit lower="-0.2618" upper="0.2618" effort="10"
1002
<gazebo reference="THJ3">
1003
<material>Gazebo/GrassFloor</material>
1006
<joint name="THJ2" type="revolute">
1007
<parent link="thhub"/>
1008
<child link="thmiddle"/>
1009
<origin xyz="0 0 0" rpy="0 0 0" />
1010
<axis xyz="0 -1 0" />
1011
<limit lower="-0.5237" upper="0.5237" effort="10"
1014
<gazebo reference="THJ2">
1015
<material>Gazebo/GrassFloor</material>
1018
<joint name="THJ1" type="revolute">
1019
<parent link="thmiddle"/>
1020
<child link="thdistal"/>
1021
<origin xyz="0 0 0.032" rpy="0 0 0" />
1022
<axis xyz="0 -1 0" />
1023
<limit lower="0" upper="1.571" effort="10"
1026
<gazebo reference="THJ1">
1027
<material>Gazebo/GrassFloor</material>