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ability_hand_right_glb.urdf
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<robot name="ability_hand">
<link name="base_link"/>
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="base"/>
<origin xyz="0 0 0" rpy="0 0 -1.57079"/>
</joint>
<link name="base">
<visual name="wrist_mesh">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/visual/wristmesh.glb"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/collision/wristmesh_C.obj"/>
</geometry>
</collision>
<inertial> <!-- the mass and inertia here are NOT correct -->
<mass value="0.200"/>
<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
</inertial>
</link>
<joint name="wrist2thumb" type="fixed">
<parent link="base"/>
<child link="thumb_base"/>
<origin xyz="-24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 -0.08848813 -3.14036612"/>
</joint>
<link name="thumb_base">
<inertial>
<mass value="0.200"/>
<inertia ixx="978.26e-6" ixy="87.34e-6" ixz="322.99e-6" iyy="1244.78e-6" iyz="244.74e-6" izz="456.22e-6"/>
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
</inertial>
<visual name="palm_mesh">
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/visual/FB_palm_ref_MIR.glb"/>
</geometry>
</visual>
<collision> <!-- thumb_base -->
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/collision/FB_palm_ref_MIR.obj"/>
</geometry>
</collision>
</link>
<link name="thumb_L1">
<inertial>
<mass value="0.00268342"/>
<inertia ixx="0.16931e-4" ixy="-0.076214e-4" ixz="-0.16959148e-4" iyy="0.77769934e-4" iyz="0.0156622e-4" izz="0.7249122e-4"/>
<origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
</inertial>
<visual name="thumb_mesh_1">
<origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
<geometry>
<mesh filename="meshes/visual/thumb-F1-MIR.glb"/>
</geometry>
</visual>
<collision> <!-- thumb_L1 -->
<origin xyz="27.8283501e-3 1.7436510745838653e-19 14.7507e-3" rpy="1.832595714594045 -0.0 5.366520605522463e-18"/>
<geometry>
<mesh filename="meshes/collision/thumb-F1-MIR_C.obj"/>
</geometry>
</collision>
</link>
<link name="thumb_L2">
<inertial>
<mass value="0.0055"/>
<inertia ixx="4.4789082e-4" ixy="4.4789082e-4" ixz="-0.62144934e-4" iyy="15.600996e-4" iyz="-0.07466143e-4" izz="17.908554e-4"/>
<origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
</inertial>
<visual name="thumb_mesh_2">
<origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
<geometry>
<mesh filename="meshes/visual/thumb-F2.glb"/>
</geometry>
</visual>
<collision> <!-- thumb_L2 -->
<origin xyz="65.18669e-3 23.34021e-3 3.93483e-3" rpy="-3.141592 0 0.343830"/>
<geometry>
<mesh filename="meshes/collision/thumb-F2_C.obj"/>
</geometry>
</collision>
</link>
<joint name="thumb_q1" type="revolute">
<parent link="thumb_base"/>
<child link="thumb_L1"/>
<origin xyz=" 0.0 0.0 0.0 " rpy=" 3.141592653589793 -0.0 -0.18884434641020664 "/>
<axis xyz="0 0 1"/>
<limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
</joint>
<joint name="thumb_q2" type="revolute">
<parent link="thumb_L1"/>
<child link="thumb_L2"/>
<origin xyz=" 27.8283501e-3 1.7436510745838653e-19 14.7507e-3 " rpy=" 1.832595714594045 -0.0 5.366520605522463e-18 "/>
<axis xyz="0 0 1"/>
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
</joint>
<link name="thumb_tip"/>
<joint name="thumb_tip_joint" type="fixed">
<parent link="thumb_L2"/>
<child link="thumb_tip"/>
<origin rpy="0 0 0" xyz="0.065 0.016 0"/>
</joint>
<link name="index_L1">
<inertial>
<mass value="0.00635888"/>
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
</inertial>
<visual name="index_mesh_1">
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
<geometry>
<mesh filename="meshes/visual/idx-F1.glb"/>
</geometry>
</visual>
<collision> <!-- index_L1 -->
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.0085"/>
</geometry>
</collision>
<collision>
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
<geometry>
<box size="0.028 0.012 0.016"/>
</geometry>
</collision>
<collision>
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
<geometry>
<box size="0.02 0.01 0.016"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
<geometry>
<box size="0.012 0.012 0.002"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
<geometry>
<box size="0.012 0.012 0.002"/>
</geometry>
</collision>
</link>
<link name="index_L2">
<inertial>
<mass value="0.00645"/>
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
</inertial>
<visual name="index_mesh_2">
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
<geometry>
<mesh filename="meshes/visual/idx-F2.glb"/>
</geometry>
</visual>
<collision> <!-- index_L2 -->
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/collision/idx-F2_C.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.007"/>
</geometry>
</collision>
</link>
<joint name="index_q1" type="revolute">
<parent link="thumb_base"/>
<child link="index_L1"/>
<origin xyz=" 9.49e-3 -13.04e-3 -62.95e-3 " rpy=" -1.1595426535897932 1.284473 -1.0510016535897932 "/>
<axis xyz="0 0 1"/>
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
</joint>
<joint name="index_q2" type="revolute">
<parent link="index_L1"/>
<child link="index_L2"/>
<origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
<mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/>
</joint>
<link name="index_tip"/>
<joint name="index_tip_joint" type="fixed">
<parent link="index_L2"/>
<child link="index_tip"/>
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
</joint>
<link name="middle_L1">
<inertial>
<mass value="0.00635888"/>
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
</inertial>
<visual name="middle_mesh_1">
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
<geometry>
<mesh filename="meshes/visual/idx-F1.glb"/>
</geometry>
</visual>
<collision> <!-- middle_L1 -->
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.0085"/>
</geometry>
</collision>
<collision>
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
<geometry>
<box size="0.028 0.012 0.016"/>
</geometry>
</collision>
<collision>
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
<geometry>
<box size="0.02 0.01 0.016"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
<geometry>
<box size="0.012 0.012 0.002"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
<geometry>
<box size="0.012 0.012 0.002"/>
</geometry>
</collision>
</link>
<link name="middle_L2">
<inertial>
<mass value="0.00645"/>
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
</inertial>
<visual name="middle_mesh_2">
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
<geometry>
<mesh filename="meshes/visual/idx-F2.glb"/>
</geometry>
</visual>
<collision> <!-- middle_L2 -->
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/collision/idx-F2_C.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.007"/>
</geometry>
</collision>
</link>
<joint name="middle_q1" type="revolute">
<parent link="thumb_base"/>
<child link="middle_L1"/>
<origin xyz=" -9.653191e-3 -15.310271e-3 -67.853949e-3 " rpy=" -1.2810616535897934 1.308458 -1.2453756535897933 "/>
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
<axis xyz="0 0 1"/>
</joint>
<joint name="middle_q2" type="revolute">
<parent link="middle_L1"/>
<child link="middle_L2"/>
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
<mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/>
</joint>
<link name="middle_tip"/>
<joint name="middle_tip_joint" type="fixed">
<parent link="middle_L2"/>
<child link="middle_tip"/>
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
</joint>
<link name="ring_L1">
<inertial>
<mass value="0.00635888"/>
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
</inertial>
<visual name="ring_mesh_1">
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
<geometry>
<mesh filename="meshes/visual/idx-F1.glb"/>
</geometry>
</visual>
<collision> <!-- ring_L1 -->
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.0085"/>
</geometry>
</collision>
<collision>
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
<geometry>
<box size="0.028 0.012 0.016"/>
</geometry>
</collision>
<collision>
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
<geometry>
<box size="0.02 0.01 0.016"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
<geometry>
<box size="0.012 0.012 0.002"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
<geometry>
<box size="0.012 0.012 0.002"/>
</geometry>
</collision>
</link>
<link name="ring_L2">
<inertial>
<mass value="0.00645"/>
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
</inertial>
<visual name="ring_mesh_2">
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
<geometry>
<mesh filename="meshes/visual/idx-F2.glb"/>
</geometry>
</visual>
<collision> <!-- ring_L2 -->
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/collision/idx-F2_C.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.007"/>
</geometry>
</collision>
</link>
<joint name="ring_q1" type="revolute">
<parent link="thumb_base"/>
<child link="ring_L1"/>
<origin xyz=" -29.95426e-3 -14.212492e-3 -67.286105e-3 " rpy=" -1.424994653589793 1.321452 -1.4657306535897934 "/>
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
<axis xyz="0 0 1"/>
</joint>
<joint name="ring_q2" type="revolute">
<parent link="ring_L1"/>
<child link="ring_L2"/>
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
<mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/>
</joint>
<link name="ring_tip"/>
<joint name="ring_tip_joint" type="fixed">
<parent link="ring_L2"/>
<child link="ring_tip"/>
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
</joint>
<link name="pinky_L1">
<inertial>
<mass value="0.00635888"/>
<inertia ixx="0.29766e-4" ixy="-0.06447133e-4" ixz="-0.00423315e-4" iyy="3.6947967e-4" iyz="0.00083028e-4" izz="3.8176336e-4"/>
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
</inertial>
<visual name="pinky_mesh_1">
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
<geometry>
<mesh filename="meshes/visual/idx-F1.glb"/>
</geometry>
</visual>
<collision> <!-- pinky_L1 -->
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.0085"/>
</geometry>
</collision>
<collision>
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
<geometry>
<box size="0.028 0.012 0.016"/>
</geometry>
</collision>
<collision>
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
<geometry>
<box size="0.02 0.01 0.016"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
<geometry>
<box size="0.012 0.012 0.002"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
<geometry>
<box size="0.012 0.012 0.002"/>
</geometry>
</collision>
</link>
<link name="pinky_L2">
<inertial>
<mass value="0.00645"/>
<inertia ixx="0.82671e-4" ixy="-1.08876e-4" ixz="-0.00037e-4" iyy="1.98028e-4" iyz="0.00081e-4" izz="2.64638e-4"/>
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
</inertial>
<visual name="pinky_mesh_2">
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
<geometry>
<mesh filename="meshes/visual/idx-F2.glb"/>
</geometry>
</visual>
<collision> <!-- pinky_L2 -->
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/collision/idx-F2_C.obj"/>
</geometry>
</collision>
<collision>
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.007"/>
</geometry>
</collision>
</link>
<joint name="pinky_q1" type="revolute">
<parent link="thumb_base"/>
<child link="pinky_L1"/>
<origin xyz=" -49.521293e-3 -11.004583e-3 -63.029065e-3 " rpy=" -1.3764826535897934 1.32222 -1.4832096535897932 "/>
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
<axis xyz="0 0 1"/>
</joint>
<joint name="pinky_q2" type="revolute">
<parent link="pinky_L1"/>
<child link="pinky_L2"/>
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
<axis xyz="0 0 1"/>
<mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/>
</joint>
<link name="pinky_tip"/>
<joint name="pinky_tip_joint" type="fixed">
<parent link="pinky_L2"/>
<child link="pinky_tip"/>
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
</joint>
</robot>