mani-skill-nightly 2025.4.3.2254__py3-none-any.whl → 2025.4.4.41__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- mani_skill/agents/controllers/base_controller.py +2 -0
- mani_skill/agents/controllers/pd_joint_pos.py +116 -5
- mani_skill/agents/robots/__init__.py +2 -1
- mani_skill/agents/robots/floating_inspire_hand/__init__.py +1 -0
- mani_skill/agents/robots/floating_inspire_hand/floating_inspire_hand.py +176 -0
- mani_skill/agents/robots/panda/panda.py +1 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/L_hand_base_link.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/L_thumb_metacarpal_base.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/L_wrist_link.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/R_hand_base_link.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/R_thumb_metacarpal_base.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/R_wrist_link.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/index_ring_middle.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/middle_middle.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/pinky_middle.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/thumb_distal.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/thumb_proximal.glb +0 -0
- mani_skill/assets/robots/inspire_hand/meshes/end_effector/inspire_hand/visual/wrist_base_link.glb +0 -0
- mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_left.urdf +443 -0
- mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_right.urdf +427 -0
- mani_skill/assets/robots/inspire_hand/urdf/end_effector/inspire_hand/inspire_hand_right_floating.urdf +505 -0
- {mani_skill_nightly-2025.4.3.2254.dist-info → mani_skill_nightly-2025.4.4.41.dist-info}/METADATA +1 -1
- {mani_skill_nightly-2025.4.3.2254.dist-info → mani_skill_nightly-2025.4.4.41.dist-info}/RECORD +29 -9
- {mani_skill_nightly-2025.4.3.2254.dist-info → mani_skill_nightly-2025.4.4.41.dist-info}/LICENSE +0 -0
- {mani_skill_nightly-2025.4.3.2254.dist-info → mani_skill_nightly-2025.4.4.41.dist-info}/WHEEL +0 -0
- {mani_skill_nightly-2025.4.3.2254.dist-info → mani_skill_nightly-2025.4.4.41.dist-info}/top_level.txt +0 -0
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from main.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="inspire_hand">
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<link name="left_hand_wrist_base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-2.4695E-06 0.0014729 0.032787"/>
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<mass value="0.065373"/>
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<inertia ixx="4.1551E-05" ixy="7.3802E-11" ixz="6.064E-09" iyy="4.1183E-05" iyz="8.3242E-09" izz="2.7991E-05"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/wrist_base_link.glb"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/wrist_base_link.glb"/>
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</geometry>
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</collision>
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</link>
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<link name="left_hand_wrist_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-1.1356E-10 -7.0593E-06 7.9885E-05"/>
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<mass value="0.00056124"/>
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<inertia ixx="2.9483E-08" ixy="2.7024E-16" ixz="-1.1443E-17" iyy="2.9284E-08" iyz="-3.1652E-13" izz="2.2194E-09"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/L_wrist_link.glb"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/L_wrist_link.glb"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_wrist_pitch_joint" type="revolute">
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<origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0.0785"/>
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<parent link="left_hand_wrist_base_link"/>
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<child link="left_hand_wrist_link"/>
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<axis xyz="0 0 1"/>
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<limit effort="1" lower="-0.39549160850191506" upper="0.3860668305411457" velocity="0.5"/>
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</joint>
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<link name="left_hand_hand_base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.0011392 0.05204 0.0013473"/>
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<mass value="0.19286"/>
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<inertia ixx="9.3621E-05" ixy="-1.7903E-06" ixz="-6.7098E-07" iyy="9.5449E-05" iyz="-2.7765E-06" izz="0.00016048"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/L_hand_base_link.glb"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/L_hand_base_link.glb"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_wrist_yaw_joint" type="revolute">
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<origin rpy="0 -1.5707963267948966 0" xyz="0 0 0"/>
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<parent link="left_hand_wrist_link"/>
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<child link="left_hand_hand_base_link"/>
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<axis xyz="0 0 1"/>
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<limit effort="1" lower="-0.445058959258554" upper="0.445058959258554" velocity="0.5"/>
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</joint>
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<link name="left_hand_thumb_metacarpal_base">
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<inertial>
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<origin rpy="0 0 0" xyz="0.003828 0.00054788 -2.5428E-05"/>
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<mass value="0.0015177"/>
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<inertia ixx="3.6056E-08" ixy="5.7717E-09" ixz="-1.9602E-09" iyy="6.0741E-08" iyz="2.0752E-10" izz="5.6161E-08"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/L_thumb_metacarpal_base.glb"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/L_thumb_metacarpal_base.glb"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_thumb_CMC_yaw_joint" type="revolute">
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<origin rpy="1.5707963267948966 0.2617993877991494 0" xyz="0.02125 0.0285 -0.01515"/>
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<parent link="left_hand_hand_base_link"/>
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<child link="left_hand_thumb_metacarpal_base"/>
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<axis xyz="0 0 1"/>
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<limit effort="1" lower="-1.3089969389957472" upper="0" velocity="0.5"/>
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</joint>
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<link name="left_hand_thumb_metacarpal">
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<inertial>
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<origin rpy="0 0 0" xyz="0.025598 0.0011674 1.6981E-07"/>
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<mass value="0.026111"/>
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<inertia ixx="2.4138E-06" ixy="1.425E-07" ixz="-6.4106E-11" iyy="6.7215E-06" iyz="6.9289E-12" izz="7.9391E-06"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/thumb_metacarpal.glb"/>
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</geometry>
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</collision>
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</link>
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<!--
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from sapien import Pose
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from transforms3d.euler import euler2quat, quat2euler
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import numpy as np
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pose_mb_m = Pose([0.0115, 0, 0.00075], euler2quat(np.pi/2, 0.62203, 0))
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new_pose_mb_m = pose_mb_m * Pose(q=euler2quat(0, 0, -0.2))
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quat2euler(new_pose_mb_m.q)
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-->
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<joint name="left_hand_thumb_CMC_pitch_joint" type="revolute">
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<origin rpy="1.5707963267948966 0.6831165238198015 0" xyz="0.0115 0 0.00075"/>
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<parent link="left_hand_thumb_metacarpal_base"/>
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<child link="left_hand_thumb_metacarpal"/>
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<axis xyz="0 0 1"/>
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<limit effort="1" lower="-0.4799655442984406" upper="0" velocity="0.5"/>
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</joint>
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<link name="left_hand_thumb_proximal">
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<inertial>
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<origin rpy="0 0 0" xyz="0.0096372 0.0056521 -1.5461E-07"/>
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<mass value="0.0076243"/>
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<inertia ixx="3.7133E-07" ixy="9.4972E-08" ixz="-1.1524E-11" iyy="7.9078E-07" iyz="9.5864E-13" izz="8.6326E-07"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/thumb_proximal.glb"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/thumb_proximal.glb"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_thumb_MCP_joint" type="revolute">
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<origin rpy="0 0 -0.003172" xyz="0.055852 -0.0040666 0"/>
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<parent link="left_hand_thumb_metacarpal"/>
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<child link="left_hand_thumb_proximal"/>
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<axis xyz="0 0 1"/>
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<limit effort="1" lower="-0.8" upper="0" velocity="0.5"/>
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<!-- <mimic joint="left_hand_thumb_CMC_pitch_joint" multiplier="1.3333333333333335" offset="-0.08144869842640205"/> -->
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</joint>
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<link name="left_hand_thumb_distal">
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<inertial>
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<origin rpy="0 0 0" xyz="0.01088 0.00050962 1.5765E-07"/>
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<mass value="0.0032026"/>
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<inertia ixx="8.142E-08" ixy="2.1827E-08" ixz="3.1474E-12" iyy="1.751E-07" iyz="-1.6913E-12" izz="1.8652E-07"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/thumb_distal.glb"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/thumb_distal.glb"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_thumb_IP_joint" type="revolute">
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<origin rpy="0 0 0.011853" xyz="0.022558 0.0020717 0"/>
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<parent link="left_hand_thumb_proximal"/>
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<child link="left_hand_thumb_distal"/>
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<axis xyz="0 0 1"/>
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<limit effort="1" lower="-0.4" upper="0" velocity="0.5"/>
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<!-- <mimic joint="left_hand_thumb_CMC_pitch_joint" multiplier="0.6666666666666667" offset="-0.040724349213201026"/> -->
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</joint>
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<link name="left_hand_index_proximal">
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<inertial>
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<origin rpy="0 0 0" xyz="0.013292 -0.0019852 6.3987E-08"/>
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<mass value="0.0074557"/>
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<inertia ixx="3.0933E-07" ixy="1.1169E-07" ixz="6.8599E-12" iyy="8.2022E-07" iyz="4.1194E-13" izz="9.125E-07"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
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</geometry>
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</collision>
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</link>
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<!--
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from sapien import Pose
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from transforms3d.euler import euler2quat, quat2euler
|
|
214
|
+
import numpy as np
|
|
215
|
+
pose_hand_proximal = Pose([0.027071, 0.10464, 0.0020953], euler2quat(np.pi/2, -0.32457, 1.5359))
|
|
216
|
+
new_pose_hand_proximal = pose_hand_proximal * Pose(q=euler2quat(0, 0, -0.2))
|
|
217
|
+
quat2euler(new_pose_hand_proximal.q)
|
|
218
|
+
-->
|
|
219
|
+
<joint name="left_hand_index_MCP_joint" type="revolute">
|
|
220
|
+
<origin rpy="1.5707963267948966 -0.12457000000000001 1.5359" xyz="0.027071 0.10464 0.0020953"/>
|
|
221
|
+
<parent link="left_hand_hand_base_link"/>
|
|
222
|
+
<child link="left_hand_index_proximal"/>
|
|
223
|
+
<axis xyz="0 0 1"/>
|
|
224
|
+
<limit effort="1" lower="-1.34" upper="0" velocity="0.5"/>
|
|
225
|
+
</joint>
|
|
226
|
+
<link name="left_hand_index_middle">
|
|
227
|
+
<inertial>
|
|
228
|
+
<origin rpy="0 0 0" xyz="0.018926 -0.0015379 -1.1076E-08"/>
|
|
229
|
+
<mass value="0.0044472"/>
|
|
230
|
+
<inertia ixx="1.4776E-07" ixy="2.0201E-07" ixz="-8.6133E-13" iyy="6.6739E-07" iyz="4.5149E-13" izz="7.4626E-07"/>
|
|
231
|
+
</inertial>
|
|
232
|
+
<visual>
|
|
233
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
234
|
+
<geometry>
|
|
235
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
|
|
236
|
+
</geometry>
|
|
237
|
+
</visual>
|
|
238
|
+
<collision>
|
|
239
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
240
|
+
<geometry>
|
|
241
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
|
|
242
|
+
</geometry>
|
|
243
|
+
</collision>
|
|
244
|
+
</link>
|
|
245
|
+
<joint name="left_hand_index_PIP_joint" type="revolute">
|
|
246
|
+
<origin rpy="0 0 0.0016248" xyz="0.030445 -0.010275 0"/>
|
|
247
|
+
<parent link="left_hand_index_proximal"/>
|
|
248
|
+
<child link="left_hand_index_middle"/>
|
|
249
|
+
<axis xyz="0 0 1"/>
|
|
250
|
+
<limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
|
|
251
|
+
<!-- <mimic joint="left_hand_index_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
|
|
252
|
+
</joint>
|
|
253
|
+
<link name="left_hand_middle_proximal">
|
|
254
|
+
<inertial>
|
|
255
|
+
<origin rpy="0 0 0" xyz="0.013292 -0.0019853 9.6516E-08"/>
|
|
256
|
+
<mass value="0.0074556"/>
|
|
257
|
+
<inertia ixx="3.0932E-07" ixy="1.1169E-07" ixz="7.0517E-12" iyy="8.2022E-07" iyz="-8.1193E-13" izz="9.1249E-07"/>
|
|
258
|
+
</inertial>
|
|
259
|
+
<visual>
|
|
260
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
261
|
+
<geometry>
|
|
262
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
|
|
263
|
+
</geometry>
|
|
264
|
+
</visual>
|
|
265
|
+
<collision>
|
|
266
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
267
|
+
<geometry>
|
|
268
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
|
|
269
|
+
</geometry>
|
|
270
|
+
</collision>
|
|
271
|
+
</link>
|
|
272
|
+
<joint name="left_hand_middle_MCP_joint" type="revolute">
|
|
273
|
+
<origin rpy="1.5707963267948966 -0.12457000000000001 1.5707963267948966" xyz="0.00775 0.105 0.0020953"/>
|
|
274
|
+
<parent link="left_hand_hand_base_link"/>
|
|
275
|
+
<child link="left_hand_middle_proximal"/>
|
|
276
|
+
<axis xyz="0 0 1"/>
|
|
277
|
+
<limit effort="1" lower="-1.34" upper="0" velocity="0.5"/>
|
|
278
|
+
</joint>
|
|
279
|
+
<link name="left_hand_middle_middle">
|
|
280
|
+
<inertial>
|
|
281
|
+
<origin rpy="0 0 0" xyz="0.020219 -0.0014516 1.2009E-08"/>
|
|
282
|
+
<mass value="0.0048918"/>
|
|
283
|
+
<inertia ixx="1.6257E-07" ixy="2.4465E-07" ixz="-1.7387E-12" iyy="8.8196E-07" iyz="-3.56E-13" izz="9.6871E-07"/>
|
|
284
|
+
</inertial>
|
|
285
|
+
<visual>
|
|
286
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
287
|
+
<geometry>
|
|
288
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/middle_middle.glb"/>
|
|
289
|
+
</geometry>
|
|
290
|
+
</visual>
|
|
291
|
+
<collision>
|
|
292
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
293
|
+
<geometry>
|
|
294
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/middle_middle.glb"/>
|
|
295
|
+
</geometry>
|
|
296
|
+
</collision>
|
|
297
|
+
</link>
|
|
298
|
+
<joint name="left_hand_middle_PIP_joint" type="revolute">
|
|
299
|
+
<origin rpy="0 0 -0.019795" xyz="0.030445 -0.010275 0"/>
|
|
300
|
+
<parent link="left_hand_middle_proximal"/>
|
|
301
|
+
<child link="left_hand_middle_middle"/>
|
|
302
|
+
<axis xyz="0 0 1"/>
|
|
303
|
+
<limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
|
|
304
|
+
<!-- <mimic joint="left_hand_middle_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
|
|
305
|
+
</joint>
|
|
306
|
+
<link name="left_hand_ring_proximal">
|
|
307
|
+
<inertial>
|
|
308
|
+
<origin rpy="0 0 0" xyz="0.013292 -0.0019853 9.267E-08"/>
|
|
309
|
+
<mass value="0.0074556"/>
|
|
310
|
+
<inertia ixx="3.0932E-07" ixy="1.1169E-07" ixz="6.3806E-12" iyy="8.2022E-07" iyz="-3.6905E-13" izz="9.1249E-07"/>
|
|
311
|
+
</inertial>
|
|
312
|
+
<visual>
|
|
313
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
314
|
+
<geometry>
|
|
315
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
|
|
316
|
+
</geometry>
|
|
317
|
+
</visual>
|
|
318
|
+
<collision>
|
|
319
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
320
|
+
<geometry>
|
|
321
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/index_ring_proximal.glb"/>
|
|
322
|
+
</geometry>
|
|
323
|
+
</collision>
|
|
324
|
+
</link>
|
|
325
|
+
<joint name="left_hand_ring_MCP_joint" type="revolute">
|
|
326
|
+
<origin rpy="1.5707963267948966 -0.12457000000000001 1.6232" xyz="-0.011479 0.1045 0.0020953"/>
|
|
327
|
+
<parent link="left_hand_hand_base_link"/>
|
|
328
|
+
<child link="left_hand_ring_proximal"/>
|
|
329
|
+
<axis xyz="0 0 1"/>
|
|
330
|
+
<limit effort="1" lower="-1.34" upper="0" velocity="0.5"/>
|
|
331
|
+
</joint>
|
|
332
|
+
<link name="left_hand_ring_middle">
|
|
333
|
+
<inertial>
|
|
334
|
+
<origin rpy="0 0 0" xyz="0.018926 -0.0015379 -2.2563E-08"/>
|
|
335
|
+
<mass value="0.0044472"/>
|
|
336
|
+
<inertia ixx="1.4776E-07" ixy="2.0201E-07" ixz="2.6303E-13" iyy="6.6739E-07" iyz="-1.872E-13" izz="7.4626E-07"/>
|
|
337
|
+
</inertial>
|
|
338
|
+
<visual>
|
|
339
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
340
|
+
<geometry>
|
|
341
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
|
|
342
|
+
</geometry>
|
|
343
|
+
</visual>
|
|
344
|
+
<collision>
|
|
345
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
346
|
+
<geometry>
|
|
347
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/index_ring_middle.glb"/>
|
|
348
|
+
</geometry>
|
|
349
|
+
</collision>
|
|
350
|
+
</link>
|
|
351
|
+
<joint name="left_hand_ring_PIP_joint" type="revolute">
|
|
352
|
+
<origin rpy="0 0 0.0016262" xyz="0.030445 -0.010275 0"/>
|
|
353
|
+
<parent link="left_hand_ring_proximal"/>
|
|
354
|
+
<child link="left_hand_ring_middle"/>
|
|
355
|
+
<axis xyz="0 0 1"/>
|
|
356
|
+
<limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
|
|
357
|
+
<!-- <mimic joint="left_hand_ring_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
|
|
358
|
+
</joint>
|
|
359
|
+
<link name="left_hand_pinky_proximal">
|
|
360
|
+
<inertial>
|
|
361
|
+
<origin rpy="0 0 0" xyz="0.013292 -0.0019853 9.9172E-08"/>
|
|
362
|
+
<mass value="0.0074556"/>
|
|
363
|
+
<inertia ixx="3.0932E-07" ixy="1.1169E-07" ixz="6.5494E-12" iyy="8.2022E-07" iyz="-6.477E-13" izz="9.1249E-07"/>
|
|
364
|
+
</inertial>
|
|
365
|
+
<visual>
|
|
366
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
367
|
+
<geometry>
|
|
368
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
|
|
369
|
+
</geometry>
|
|
370
|
+
</visual>
|
|
371
|
+
<collision>
|
|
372
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
373
|
+
<geometry>
|
|
374
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/middle_pinky_proximal.glb"/>
|
|
375
|
+
</geometry>
|
|
376
|
+
</collision>
|
|
377
|
+
</link>
|
|
378
|
+
<joint name="left_hand_pinky_MCP_joint" type="revolute">
|
|
379
|
+
<origin rpy="1.5707963267948966 -0.12457000000000001 1.6755" xyz="-0.030655 0.10299 0.0020953"/>
|
|
380
|
+
<parent link="left_hand_hand_base_link"/>
|
|
381
|
+
<child link="left_hand_pinky_proximal"/>
|
|
382
|
+
<axis xyz="0 0 1"/>
|
|
383
|
+
<limit effort="1" lower="-1.34" upper="0" velocity="0.5"/>
|
|
384
|
+
</joint>
|
|
385
|
+
<link name="left_hand_pinky_middle">
|
|
386
|
+
<inertial>
|
|
387
|
+
<origin rpy="0 0 0" xyz="0.015705 -0.0017319 3.0193E-05"/>
|
|
388
|
+
<mass value="0.00358"/>
|
|
389
|
+
<inertia ixx="1.1688E-07" ixy="1.3011E-07" ixz="-5.7708E-10" iyy="3.6706E-07" iyz="3.7863E-10" izz="4.2837E-07"/>
|
|
390
|
+
</inertial>
|
|
391
|
+
<visual>
|
|
392
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
393
|
+
<geometry>
|
|
394
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/pinky_middle.glb"/>
|
|
395
|
+
</geometry>
|
|
396
|
+
</visual>
|
|
397
|
+
<collision>
|
|
398
|
+
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
399
|
+
<geometry>
|
|
400
|
+
<mesh filename="package://robot_description/meshes/end_effector/inspire_hand/visual/pinky_middle.glb"/>
|
|
401
|
+
</geometry>
|
|
402
|
+
</collision>
|
|
403
|
+
</link>
|
|
404
|
+
<joint name="left_hand_pinky_PIP_joint" type="revolute">
|
|
405
|
+
<origin rpy="0 0 0.090322" xyz="0.030445 -0.010275 0"/>
|
|
406
|
+
<parent link="left_hand_pinky_proximal"/>
|
|
407
|
+
<child link="left_hand_pinky_middle"/>
|
|
408
|
+
<axis xyz="0 0 1"/>
|
|
409
|
+
<limit effort="1" lower="-1.56" upper="0.04545" velocity="0.5"/>
|
|
410
|
+
<!-- <mimic joint="left_hand_pinky_MCP_joint" multiplier="1.06399" offset="-0.16734800000000002"/> -->
|
|
411
|
+
</joint>
|
|
412
|
+
<link name="left_hand_thumb_tip"/>
|
|
413
|
+
<joint name="left_hand_thumb_tip_joint" type="fixed">
|
|
414
|
+
<origin rpy="0 0 0" xyz="0.024859 -0.000031 0"/>
|
|
415
|
+
<parent link="left_hand_thumb_distal"/>
|
|
416
|
+
<child link="left_hand_thumb_tip"/>
|
|
417
|
+
</joint>
|
|
418
|
+
<link name="left_hand_index_tip"/>
|
|
419
|
+
<joint name="left_hand_index_tip_joint" type="fixed">
|
|
420
|
+
<origin rpy="0 0 0" xyz="0.043944 -0.009147 0"/>
|
|
421
|
+
<parent link="left_hand_index_middle"/>
|
|
422
|
+
<child link="left_hand_index_tip"/>
|
|
423
|
+
</joint>
|
|
424
|
+
<link name="left_hand_middle_tip"/>
|
|
425
|
+
<joint name="left_hand_middle_tip_joint" type="fixed">
|
|
426
|
+
<origin rpy="0 0 0" xyz="0.047746 -0.009066 0"/>
|
|
427
|
+
<parent link="left_hand_middle_middle"/>
|
|
428
|
+
<child link="left_hand_middle_tip"/>
|
|
429
|
+
</joint>
|
|
430
|
+
<link name="left_hand_ring_tip"/>
|
|
431
|
+
<joint name="left_hand_ring_tip_joint" type="fixed">
|
|
432
|
+
<origin rpy="0 0 0" xyz="0.043944 -0.009147 0"/>
|
|
433
|
+
<parent link="left_hand_ring_middle"/>
|
|
434
|
+
<child link="left_hand_ring_tip"/>
|
|
435
|
+
</joint>
|
|
436
|
+
<link name="left_hand_pinky_tip"/>
|
|
437
|
+
<joint name="left_hand_pinky_tip_joint" type="fixed">
|
|
438
|
+
<origin rpy="0 0 0" xyz="0.035855 -0.009619 0"/>
|
|
439
|
+
<parent link="left_hand_pinky_middle"/>
|
|
440
|
+
<child link="left_hand_pinky_tip"/>
|
|
441
|
+
</joint>
|
|
442
|
+
<!-- Left arm -->
|
|
443
|
+
</robot>
|