mani-skill-nightly 2025.10.21.2002__py3-none-any.whl → 2025.10.21.2011__py3-none-any.whl
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- mani_skill/agents/robots/__init__.py +1 -0
- mani_skill/agents/robots/floating_ability_hand/__init__.py +1 -0
- mani_skill/agents/robots/floating_ability_hand/floating_ability_hand.py +217 -0
- mani_skill/assets/robots/ability_hand/ability_hand_left_floating.urdf +554 -0
- mani_skill/assets/robots/ability_hand/ability_hand_right_floating.urdf +554 -0
- mani_skill/envs/tasks/dexterity/__init__.py +1 -0
- mani_skill/envs/tasks/dexterity/insert_flower.py +180 -0
- mani_skill/trajectory/replay_trajectory.py +1 -0
- mani_skill/utils/assets/data.py +5 -0
- mani_skill/utils/wrappers/record.py +4 -3
- {mani_skill_nightly-2025.10.21.2002.dist-info → mani_skill_nightly-2025.10.21.2011.dist-info}/METADATA +1 -1
- {mani_skill_nightly-2025.10.21.2002.dist-info → mani_skill_nightly-2025.10.21.2011.dist-info}/RECORD +16 -11
- {mani_skill_nightly-2025.10.21.2002.dist-info → mani_skill_nightly-2025.10.21.2011.dist-info}/WHEEL +0 -0
- {mani_skill_nightly-2025.10.21.2002.dist-info → mani_skill_nightly-2025.10.21.2011.dist-info}/licenses/LICENSE +0 -0
- {mani_skill_nightly-2025.10.21.2002.dist-info → mani_skill_nightly-2025.10.21.2011.dist-info}/licenses/LICENSE-3RD-PARTY +0 -0
- {mani_skill_nightly-2025.10.21.2002.dist-info → mani_skill_nightly-2025.10.21.2011.dist-info}/top_level.txt +0 -0
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<robot name="ability_hand">
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<link name="root">
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<inertial>
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<mass value="0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
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</inertial>
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</link>
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<link name="root_arm_1_link_1">
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<inertial>
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<mass value="0"/>
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<inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
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</inertial>
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</link>
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<link name="root_arm_1_link_2">
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<inertial>
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<mass value="0"/>
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<inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
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</inertial>
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</link>
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<link name="root_arm_1_link_3">
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<inertial>
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<mass value="0"/>
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<inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
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</inertial>
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</link>
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<link name="root_arm_1_link_4">
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<inertial>
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<mass value="0"/>
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<inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
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</inertial>
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</link>
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<link name="root_arm_1_link_5">
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<inertial>
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<mass value="0"/>
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<inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
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</inertial>
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</link>
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<joint name="root_x_axis_joint" type="prismatic">
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<parent link="root" />
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<child link="root_arm_1_link_1" />
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<axis xyz="1 0 0" />
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<limit effort="100" lower="-20" upper="20" velocity="0.5" />
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<dynamics damping="10.0" friction="10" />
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</joint>
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<joint name="root_y_axis_joint" type="prismatic">
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<parent link="root_arm_1_link_1" />
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<child link="root_arm_1_link_2" />
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<axis xyz="0 1 0" />
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<limit effort="100" lower="-20" upper="20" velocity="0.5" />
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<dynamics damping="10" friction="10" />
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</joint>
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<joint name="root_z_axis_joint" type="prismatic">
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<parent link="root_arm_1_link_2" />
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<child link="root_arm_1_link_3" />
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<axis xyz="0 0 1" />
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<limit effort="100" lower="-20" upper="20" velocity="0.5" />
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<dynamics damping="10" friction="10" />
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</joint>
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<joint name="root_x_rot_joint" type="revolute">
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<parent link="root_arm_1_link_3" />
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<child link="root_arm_1_link_4" />
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<axis xyz="1 0 0" />
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<limit effort="100" lower="-20" upper="20" velocity="0.5" />
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<dynamics damping="10" friction="10" />
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</joint>
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<joint name="root_y_rot_joint" type="revolute">
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<parent link="root_arm_1_link_4" />
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<child link="root_arm_1_link_5" />
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<axis xyz="0 1 0" />
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<limit effort="100" lower="-20" upper="20" velocity="0.5" />
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<dynamics damping="10" friction="10" />
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</joint>
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<joint name="root_z_rot_joint" type="revolute">
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<parent link="root_arm_1_link_5" />
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<child link="base_link" />
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<axis xyz="0 0 1" />
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<limit effort="100" lower="-20" upper="20" velocity="0.5" />
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<dynamics damping="10" friction="10" />
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</joint>
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<link name="base_link"/>
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<joint name="base_joint" type="fixed">
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<parent link="base_link"/>
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<child link="base"/>
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<origin xyz="0 0 0" rpy="0 0 -1.57079"/>
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</joint>
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<link name="base">
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<visual name="wrist_mesh">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/visual/wristmesh.obj"/>
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</geometry>
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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/collision/wristmesh_C.obj"/>
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</geometry>
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</collision>
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<inertial> <!-- the mass and inertia here are NOT correct -->
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<mass value="0.200"/>
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<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"/>
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<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
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</inertial>
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</link>
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<joint name="wrist2thumb" type="fixed">
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<parent link="base"/>
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<child link="thumb_base"/>
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<origin xyz="24.0476665e-3 3.78124745e-3 32.32964923e-3" rpy="3.14148426 0.08848813 3.14036612"/>
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</joint>
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<link name="thumb_base">
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<inertial>
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<mass value="0.400"/>
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<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"/>
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<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
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</inertial>
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<visual name="palm_mesh">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/visual/FB_palm_ref.obj"/>
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</geometry>
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</visual>
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<collision> <!-- thumb_base -->
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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/collision/FB_palm_ref.obj"/>
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</geometry>
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</collision>
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</link>
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<link name="thumb_L1">
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<inertial>
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<mass value="0.00268342"/>
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<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"/>
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<origin rpy="0 0 0" xyz="14.606e-3 -1.890854e-3 -3.1155356e-3"/>
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</inertial>
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<visual name="thumb_mesh_1">
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<origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
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<geometry>
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<mesh filename="meshes/visual/thumb-F1.obj"/>
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</geometry>
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</visual>
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<collision> <!-- thumb_L1 -->
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<origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
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<geometry>
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<mesh filename="meshes/collision/thumb-F1_C.obj"/>
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</geometry>
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</collision>
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</link>
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<link name="thumb_L2">
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<inertial>
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<mass value="0.0055"/>
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<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"/>
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<origin rpy="0 0 0" xyz="30.020522e-3 5.59476e-3 -4.1504356e-3"/>
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</inertial>
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<visual name="thumb_mesh_2">
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<origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
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<geometry>
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<mesh filename="meshes/visual/thumb-F2.obj"/>
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</geometry>
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</visual>
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<collision> <!-- thumb_L2 -->
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<origin xyz="65.18669e-3 23.34021e-3 -3.93483e-3" rpy="3.141592 0 0.343830"/>
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<geometry>
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<mesh filename="meshes/collision/thumb-F2_C.obj"/>
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</geometry>
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</collision>
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</link>
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<joint name="thumb_q1" type="revolute">
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<parent link="thumb_base"/>
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<child link="thumb_L1"/>
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<origin xyz="0 0 0" rpy="0 0 3.330437"/>
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<axis xyz="0 0 1"/>
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<limit lower="-2.0943951" upper="0" effort="1.2" velocity="40.338888721"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
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<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
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</joint>
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<joint name="thumb_q2" type="revolute">
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<parent link="thumb_L1"/>
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<child link="thumb_L2"/>
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<origin xyz="27.8283501e-3 0 -14.7507000e-3" rpy="4.450589592585541 0 0"/>
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<axis xyz="0 0 1"/>
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<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
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<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
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</joint>
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<link name="thumb_tip"/>
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<joint name="thumb_tip_joint" type="fixed">
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<parent link="thumb_L2"/>
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<child link="thumb_tip"/>
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<origin rpy="0 0 0" xyz="0.065 0.016 0"/>
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</joint>
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<link name="index_L1">
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<inertial>
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<mass value="0.00635888"/>
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<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"/>
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<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
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</inertial>
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<visual name="index_mesh_1">
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<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
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<geometry>
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<mesh filename="meshes/visual/idx-F1.obj"/>
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</geometry>
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</visual>
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<collision> <!-- index_L1 -->
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<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
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<geometry>
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<sphere radius="0.0085"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
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<geometry>
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<box size="0.028 0.012 0.016"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
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<geometry>
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<box size="0.02 0.01 0.016"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
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<geometry>
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<box size="0.012 0.012 0.002"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
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<geometry>
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<box size="0.012 0.012 0.002"/>
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</geometry>
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</collision>
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</link>
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<link name="index_L2">
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<inertial>
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<mass value="0.00645"/>
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<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"/>
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<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
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</inertial>
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<visual name="index_mesh_2">
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<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
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<geometry>
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<mesh filename="meshes/visual/idx-F2.obj"/>
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</geometry>
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</visual>
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<collision> <!-- index_L2 -->
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|
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
247
|
+
<geometry>
|
|
248
|
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
|
249
|
+
</geometry>
|
|
250
|
+
</collision>
|
|
251
|
+
<collision>
|
|
252
|
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
|
253
|
+
<geometry>
|
|
254
|
+
<sphere radius="0.007"/>
|
|
255
|
+
</geometry>
|
|
256
|
+
</collision>
|
|
257
|
+
</link>
|
|
258
|
+
<joint name="index_q1" type="revolute">
|
|
259
|
+
<parent link="thumb_base"/>
|
|
260
|
+
<child link="index_L1"/>
|
|
261
|
+
<origin xyz="-9.49e-3 -13.04e-3 -62.95e-3" rpy="-1.982050 1.284473 -2.090591"/>
|
|
262
|
+
<axis xyz="0 0 1"/>
|
|
263
|
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
|
264
|
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
|
265
|
+
</joint>
|
|
266
|
+
<joint name="index_q2" type="revolute">
|
|
267
|
+
<parent link="index_L1"/>
|
|
268
|
+
<child link="index_L2"/>
|
|
269
|
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000e-3" rpy="0 0 0.084474"/>
|
|
270
|
+
<axis xyz="0 0 1"/>
|
|
271
|
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
|
272
|
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
|
273
|
+
<!-- <mimic joint="index_q1" multiplier="1.05851325" offset="0.72349796"/> -->
|
|
274
|
+
</joint>
|
|
275
|
+
<link name="index_tip"/>
|
|
276
|
+
<joint name="index_tip_joint" type="fixed">
|
|
277
|
+
<parent link="index_L2"/>
|
|
278
|
+
<child link="index_tip"/>
|
|
279
|
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
|
280
|
+
</joint>
|
|
281
|
+
<link name="middle_L1">
|
|
282
|
+
<inertial>
|
|
283
|
+
<mass value="0.00635888"/>
|
|
284
|
+
<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"/>
|
|
285
|
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
|
286
|
+
</inertial>
|
|
287
|
+
<visual name="middle_mesh_1">
|
|
288
|
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
|
289
|
+
<geometry>
|
|
290
|
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
|
291
|
+
</geometry>
|
|
292
|
+
</visual>
|
|
293
|
+
<collision> <!-- middle_L1 -->
|
|
294
|
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
|
295
|
+
<geometry>
|
|
296
|
+
<sphere radius="0.0085"/>
|
|
297
|
+
</geometry>
|
|
298
|
+
</collision>
|
|
299
|
+
<collision>
|
|
300
|
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
|
301
|
+
<geometry>
|
|
302
|
+
<box size="0.028 0.012 0.016"/>
|
|
303
|
+
</geometry>
|
|
304
|
+
</collision>
|
|
305
|
+
<collision>
|
|
306
|
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
|
307
|
+
<geometry>
|
|
308
|
+
<box size="0.02 0.01 0.016"/>
|
|
309
|
+
</geometry>
|
|
310
|
+
</collision>
|
|
311
|
+
<collision>
|
|
312
|
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
|
313
|
+
<geometry>
|
|
314
|
+
<box size="0.012 0.012 0.002"/>
|
|
315
|
+
</geometry>
|
|
316
|
+
</collision>
|
|
317
|
+
<collision>
|
|
318
|
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
|
319
|
+
<geometry>
|
|
320
|
+
<box size="0.012 0.012 0.002"/>
|
|
321
|
+
</geometry>
|
|
322
|
+
</collision>
|
|
323
|
+
</link>
|
|
324
|
+
<link name="middle_L2">
|
|
325
|
+
<inertial>
|
|
326
|
+
<mass value="0.00645"/>
|
|
327
|
+
<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"/>
|
|
328
|
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
|
329
|
+
</inertial>
|
|
330
|
+
<visual name="middle_mesh_2">
|
|
331
|
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
|
332
|
+
<geometry>
|
|
333
|
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
|
334
|
+
</geometry>
|
|
335
|
+
</visual>
|
|
336
|
+
<collision> <!-- middle_L2 -->
|
|
337
|
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
338
|
+
<geometry>
|
|
339
|
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
|
340
|
+
</geometry>
|
|
341
|
+
</collision>
|
|
342
|
+
<collision>
|
|
343
|
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
|
344
|
+
<geometry>
|
|
345
|
+
<sphere radius="0.007"/>
|
|
346
|
+
</geometry>
|
|
347
|
+
</collision>
|
|
348
|
+
</link>
|
|
349
|
+
<joint name="middle_q1" type="revolute">
|
|
350
|
+
<parent link="thumb_base"/>
|
|
351
|
+
<child link="middle_L1"/>
|
|
352
|
+
<origin xyz="9.653191e-3 -15.310271e-3 -67.853949e-3" rpy="-1.860531 1.308458 -1.896217"/>
|
|
353
|
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
|
354
|
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
|
355
|
+
<axis xyz="0 0 1"/>
|
|
356
|
+
</joint>
|
|
357
|
+
<joint name="middle_q2" type="revolute">
|
|
358
|
+
<parent link="middle_L1"/>
|
|
359
|
+
<child link="middle_L2"/>
|
|
360
|
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
|
361
|
+
<axis xyz="0 0 1"/>
|
|
362
|
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
|
363
|
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
|
364
|
+
<!-- <mimic joint="middle_q1" multiplier="1.05851325" offset="0.72349796"/> -->
|
|
365
|
+
</joint>
|
|
366
|
+
<link name="middle_tip"/>
|
|
367
|
+
<joint name="middle_tip_joint" type="fixed">
|
|
368
|
+
<parent link="middle_L2"/>
|
|
369
|
+
<child link="middle_tip"/>
|
|
370
|
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
|
371
|
+
</joint>
|
|
372
|
+
<link name="ring_L1">
|
|
373
|
+
<inertial>
|
|
374
|
+
<mass value="0.00635888"/>
|
|
375
|
+
<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"/>
|
|
376
|
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
|
377
|
+
</inertial>
|
|
378
|
+
<visual name="ring_mesh_1">
|
|
379
|
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
|
380
|
+
<geometry>
|
|
381
|
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
|
382
|
+
</geometry>
|
|
383
|
+
</visual>
|
|
384
|
+
<collision> <!-- ring_L1 -->
|
|
385
|
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
|
386
|
+
<geometry>
|
|
387
|
+
<sphere radius="0.0085"/>
|
|
388
|
+
</geometry>
|
|
389
|
+
</collision>
|
|
390
|
+
<collision>
|
|
391
|
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
|
392
|
+
<geometry>
|
|
393
|
+
<box size="0.028 0.012 0.016"/>
|
|
394
|
+
</geometry>
|
|
395
|
+
</collision>
|
|
396
|
+
<collision>
|
|
397
|
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
|
398
|
+
<geometry>
|
|
399
|
+
<box size="0.02 0.01 0.016"/>
|
|
400
|
+
</geometry>
|
|
401
|
+
</collision>
|
|
402
|
+
<collision>
|
|
403
|
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
|
404
|
+
<geometry>
|
|
405
|
+
<box size="0.012 0.012 0.002"/>
|
|
406
|
+
</geometry>
|
|
407
|
+
</collision>
|
|
408
|
+
<collision>
|
|
409
|
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
|
410
|
+
<geometry>
|
|
411
|
+
<box size="0.012 0.012 0.002"/>
|
|
412
|
+
</geometry>
|
|
413
|
+
</collision>
|
|
414
|
+
</link>
|
|
415
|
+
<link name="ring_L2">
|
|
416
|
+
<inertial>
|
|
417
|
+
<mass value="0.00645"/>
|
|
418
|
+
<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"/>
|
|
419
|
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
|
420
|
+
</inertial>
|
|
421
|
+
<visual name="ring_mesh_2">
|
|
422
|
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
|
423
|
+
<geometry>
|
|
424
|
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
|
425
|
+
</geometry>
|
|
426
|
+
</visual>
|
|
427
|
+
<collision> <!-- ring_L2 -->
|
|
428
|
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
429
|
+
<geometry>
|
|
430
|
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
|
431
|
+
</geometry>
|
|
432
|
+
</collision>
|
|
433
|
+
<collision>
|
|
434
|
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
|
435
|
+
<geometry>
|
|
436
|
+
<sphere radius="0.007"/>
|
|
437
|
+
</geometry>
|
|
438
|
+
</collision>
|
|
439
|
+
</link>
|
|
440
|
+
<joint name="ring_q1" type="revolute">
|
|
441
|
+
<parent link="thumb_base"/>
|
|
442
|
+
<child link="ring_L1"/>
|
|
443
|
+
<origin xyz="29.954260e-3 -14.212492e-3 -67.286105e-3" rpy="-1.716598 1.321452 -1.675862"/>
|
|
444
|
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
|
445
|
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
|
446
|
+
<axis xyz="0 0 1"/>
|
|
447
|
+
</joint>
|
|
448
|
+
<joint name="ring_q2" type="revolute">
|
|
449
|
+
<parent link="ring_L1"/>
|
|
450
|
+
<child link="ring_L2"/>
|
|
451
|
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
|
452
|
+
<axis xyz="0 0 1"/>
|
|
453
|
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
|
454
|
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
|
455
|
+
<!-- <mimic joint="ring_q1" multiplier="1.05851325" offset="0.72349796"/> -->
|
|
456
|
+
</joint>
|
|
457
|
+
<link name="ring_tip"/>
|
|
458
|
+
<joint name="ring_tip_joint" type="fixed">
|
|
459
|
+
<parent link="ring_L2"/>
|
|
460
|
+
<child link="ring_tip"/>
|
|
461
|
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
|
462
|
+
</joint>
|
|
463
|
+
<link name="pinky_L1">
|
|
464
|
+
<inertial>
|
|
465
|
+
<mass value="0.00635888"/>
|
|
466
|
+
<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"/>
|
|
467
|
+
<origin xyz="22.41911e-3 -0.15798201e-3 -0.01319866e-3" rpy="0 0 0"/>
|
|
468
|
+
</inertial>
|
|
469
|
+
<visual name="pinky_mesh_1">
|
|
470
|
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
|
471
|
+
<geometry>
|
|
472
|
+
<mesh filename="meshes/visual/idx-F1.obj"/>
|
|
473
|
+
</geometry>
|
|
474
|
+
</visual>
|
|
475
|
+
<collision> <!-- pinky_L1 -->
|
|
476
|
+
<origin xyz="0.036 -0.00175 0" rpy="0 0 0"/>
|
|
477
|
+
<geometry>
|
|
478
|
+
<sphere radius="0.0085"/>
|
|
479
|
+
</geometry>
|
|
480
|
+
</collision>
|
|
481
|
+
<collision>
|
|
482
|
+
<origin xyz="0.019 -0.0045 0" rpy="0 0 0.0845"/>
|
|
483
|
+
<geometry>
|
|
484
|
+
<box size="0.028 0.012 0.016"/>
|
|
485
|
+
</geometry>
|
|
486
|
+
</collision>
|
|
487
|
+
<collision>
|
|
488
|
+
<origin xyz="0.018 0.006 0" rpy="0 0 0.0845"/>
|
|
489
|
+
<geometry>
|
|
490
|
+
<box size="0.02 0.01 0.016"/>
|
|
491
|
+
</geometry>
|
|
492
|
+
</collision>
|
|
493
|
+
<collision>
|
|
494
|
+
<origin xyz="-0.001 0 0.007" rpy="0 0 0.0845"/>
|
|
495
|
+
<geometry>
|
|
496
|
+
<box size="0.012 0.012 0.002"/>
|
|
497
|
+
</geometry>
|
|
498
|
+
</collision>
|
|
499
|
+
<collision>
|
|
500
|
+
<origin xyz="-0.001 0 -0.007" rpy="0 0 0.0845"/>
|
|
501
|
+
<geometry>
|
|
502
|
+
<box size="0.012 0.012 0.002"/>
|
|
503
|
+
</geometry>
|
|
504
|
+
</collision>
|
|
505
|
+
</link>
|
|
506
|
+
<link name="pinky_L2">
|
|
507
|
+
<inertial>
|
|
508
|
+
<mass value="0.00645"/>
|
|
509
|
+
<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"/>
|
|
510
|
+
<origin rpy="0 0 0" xyz="13.36818e-3 -8.75392e-3 -0.02886e-3"/>
|
|
511
|
+
</inertial>
|
|
512
|
+
<visual name="pinky_mesh_2">
|
|
513
|
+
<origin rpy="0 0 0" xyz="9.1241e-3 0 0"/>
|
|
514
|
+
<geometry>
|
|
515
|
+
<mesh filename="meshes/visual/idx-F2.obj"/>
|
|
516
|
+
</geometry>
|
|
517
|
+
</visual>
|
|
518
|
+
<collision> <!-- pinky_L2 -->
|
|
519
|
+
<origin xyz="0 0 0" rpy="0 0 0"/>
|
|
520
|
+
<geometry>
|
|
521
|
+
<mesh filename="meshes/collision/idx-F2_C.obj"/>
|
|
522
|
+
</geometry>
|
|
523
|
+
</collision>
|
|
524
|
+
<collision>
|
|
525
|
+
<origin xyz="0.03 -0.016 0" rpy="0 0 0"/>
|
|
526
|
+
<geometry>
|
|
527
|
+
<sphere radius="0.007"/>
|
|
528
|
+
</geometry>
|
|
529
|
+
</collision>
|
|
530
|
+
</link>
|
|
531
|
+
<joint name="pinky_q1" type="revolute">
|
|
532
|
+
<parent link="thumb_base"/>
|
|
533
|
+
<child link="pinky_L1"/>
|
|
534
|
+
<origin xyz="49.521293e-3 -11.004583e-3 -63.029065e-3" rpy="-1.765110 1.322220 -1.658383"/>
|
|
535
|
+
<limit lower="0" upper="2.0943951" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
|
536
|
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
|
537
|
+
<axis xyz="0 0 1"/>
|
|
538
|
+
</joint>
|
|
539
|
+
<joint name="pinky_q2" type="revolute">
|
|
540
|
+
<parent link="pinky_L1"/>
|
|
541
|
+
<child link="pinky_L2"/>
|
|
542
|
+
<origin xyz="38.472723e-3 3.257695e-3 0.000000" rpy="0 0 0.084474"/>
|
|
543
|
+
<limit lower="0.0" upper="2.6586" effort="6.0" velocity="8.0677777442"/> <!-- angles in rad, efforts in N-m, velocity in rad/s -->
|
|
544
|
+
<dynamics damping="0.001" friction="0.001"/> <!-- Friction coefficient is not from quantitative measurement -->
|
|
545
|
+
<axis xyz="0 0 1"/>
|
|
546
|
+
<!-- <mimic joint="pinky_q1" multiplier="1.05851325" offset="0.72349796"/> -->
|
|
547
|
+
</joint>
|
|
548
|
+
<link name="pinky_tip"/>
|
|
549
|
+
<joint name="pinky_tip_joint" type="fixed">
|
|
550
|
+
<parent link="pinky_L2"/>
|
|
551
|
+
<child link="pinky_tip"/>
|
|
552
|
+
<origin rpy="0 0 0" xyz="0.035 -0.018 0"/>
|
|
553
|
+
</joint>
|
|
554
|
+
</robot>
|