Aero Hand Open
TetherIA · licence CC-BY-SA-4.0 · source: github.com/TetherIA/aero-hand-open @ ad7d4fc40
What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.
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robot.urdf
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 99e5057d08aee419 -->
<robot name="aero_hand_open_left">
<link name="left_base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_base_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_base_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.001091225077 0.00334946624 0.04898559343" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.303576106034272" />
<inertia ixx="0.0003204846476" ixy="-2.621907954e-06" ixz="-1.78273133e-05" iyy="0.0004983212603" iyz="-1.89908549e-05" izz="0.0002368458274" />
</inertial>
</link>
<link name="left_t_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_t_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_t_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0008835251048 0.0017040798 0.008310282404" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00833536405562315" />
<inertia ixx="8.981963419e-07" ixy="-5.063242617e-08" ixz="-7.808477868e-08" iyy="6.56600038e-07" iyz="-1.152467469e-07" izz="4.946423052e-07" />
</inertial>
</link>
<joint name="left_thumb_cmc_abd" type="revolute">
<origin xyz="-0.028112 -0.0145 0.025363" rpy="-1.2217 -1.150778795e-16 1.57" />
<parent link="left_base_link" />
<child link="left_t_link" />
<axis xyz="1.224646799e-16 -1.0 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.7453" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_thumb_mcp_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_thumb_mcp_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_thumb_mcp_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.9848e-07 0.00075445 0.014668" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.008207" />
<inertia ixx="1.1501e-06" ixy="-1.5891e-11" ixz="2.1442e-11" iyy="1.2374e-06" iyz="2.9444e-08" izz="5.8804e-07" />
</inertial>
</link>
<joint name="left_thumb_cmc_flex" type="revolute">
<origin xyz="0.003475 0.003808 0.019656" rpy="0.1325 0.17906 -0.2619499996" />
<parent link="left_t_link" />
<child link="left_thumb_mcp_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="0.9599" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_thumb_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_thumb_proximal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_thumb_proximal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-7.9121e-09 0.001007 0.011955" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.005471" />
<inertia ixx="5.6266e-07" ixy="1.2619e-11" ixz="-4.6488e-12" iyy="6.6259e-07" iyz="1.0326e-08" izz="3.2352e-07" />
</inertial>
</link>
<joint name="left_thumb_mcp" type="revolute">
<origin xyz="-4.142000404e-19 0.0033822 0.035848" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_thumb_mcp_link" />
<child link="left_thumb_proximal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_thumb_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_thumb_distal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_thumb_distal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="6.4155e-07 -0.0011983 0.010377" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.0032396" />
<inertia ixx="2.7433e-07" ixy="-3.5329e-12" ixz="-1.7025e-11" iyy="2.5791e-07" iyz="-5.5405e-08" izz="1.196e-07" />
</inertial>
</link>
<joint name="left_thumb_ip" type="revolute">
<origin xyz="-2.701570839e-19 0.002206 0.029919" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_thumb_proximal_link" />
<child link="left_thumb_distal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_thumb_tip_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_thumb_tip_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_thumb_tip_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.2383e-07 -0.010203 -0.013939" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00086967" />
<inertia ixx="5.0257e-08" ixy="4.472e-12" ixz="3.8747e-12" iyy="6.2025e-08" iyz="-8.6371e-09" izz="3.845e-08" />
</inertial>
</link>
<joint name="left_thumb_tip" type="fixed">
<origin xyz="-7.283464373e-19 0.0059474 0.031823" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_thumb_distal_link" />
<child link="left_thumb_tip_link" />
</joint>
<link name="left_index_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_index_proximal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_index_proximal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-4.305299929e-08 -0.002455960396 0.01911425149" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00720026836301954" />
<inertia ixx="1.115769797e-06" ixy="2.426642314e-12" ixz="8.531117022e-12" iyy="1.101122701e-06" iyz="1.073856581e-07" izz="2.80496727e-07" />
</inertial>
</link>
<joint name="left_index_mcp_flex" type="revolute">
<origin xyz="-0.030626 -0.0011782 0.10542" rpy="6.418116951e-18 -0.05236 0.03490699959" />
<parent link="left_base_link" />
<child link="left_index_proximal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_index_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_index_middle_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_index_middle_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="6.479857529e-09 -0.0003632696147 0.008760790088" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00276150356687874" />
<inertia ixx="1.804168858e-07" ixy="-1.117056857e-13" ixz="3.179142785e-14" iyy="1.989723915e-07" iyz="7.655827749e-09" izz="8.933516847e-08" />
</inertial>
</link>
<joint name="left_index_pip" type="revolute">
<origin xyz="1.782350951e-19 -0.0014554 0.043" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_index_proximal_link" />
<child link="left_index_middle_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_index_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_index_distal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_index_distal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-3.346719613e-07 -0.001202241437 0.007772347078" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00183663667769987" />
<inertia ixx="1.082411794e-07" ixy="-2.226224448e-12" ixz="-4.515610655e-13" iyy="1.002426718e-07" iyz="-1.859056287e-08" izz="3.572116674e-08" />
</inertial>
</link>
<joint name="left_index_dip" type="revolute">
<origin xyz="0.0 0.0 0.022" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_index_middle_link" />
<child link="left_index_distal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_index_tip_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_index_tip_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_index_tip_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.379809052e-08 -0.007053532731 -0.01244340812" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.000390243409160287" />
<inertia ixx="1.252591524e-08" ixy="-4.258686356e-13" ixz="9.33846396e-14" iyy="1.448139573e-08" iyz="-2.010610978e-09" izz="8.296529147e-09" />
</inertial>
</link>
<joint name="left_index_tip" type="fixed">
<origin xyz="-4.300959559e-19 0.003512 0.026776" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_index_distal_link" />
<child link="left_index_tip_link" />
</joint>
<link name="left_middle_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_middle_proximal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_middle_proximal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-3.048637389e-08 -0.002455964113 0.01911425441" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.0072002618370038" />
<inertia ixx="1.115769237e-06" ixy="2.873147119e-12" ixz="7.931839893e-12" iyy="1.101121895e-06" iyz="1.073846806e-07" izz="2.804963666e-07" />
</inertial>
</link>
<joint name="left_middle_mcp_flex" type="revolute">
<origin xyz="-0.0075 -9.184850994e-19 0.106" rpy="0.0 -0.0 4.102069795e-10" />
<parent link="left_base_link" />
<child link="left_middle_proximal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_middle_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_middle_middle_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_middle_middle_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.85973602e-09 -0.0003632643325 0.008760781465" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00276150069139886" />
<inertia ixx="1.804166172e-07" ixy="-1.530110034e-13" ixz="1.411036643e-13" iyy="1.98972287e-07" iyz="7.655690363e-09" izz="8.933498943e-08" />
</inertial>
</link>
<joint name="left_middle_pip" type="revolute">
<origin xyz="1.782350951e-19 -0.0014554 0.043" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_middle_proximal_link" />
<child link="left_middle_middle_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_middle_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_middle_distal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_middle_distal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.252059834e-07 -0.001202236412 0.007773249197" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00183690507488675" />
<inertia ixx="1.082531081e-07" ixy="-2.193349618e-12" ixz="-2.525071133e-12" iyy="1.002546869e-07" iyz="-1.859022712e-08" izz="3.572314022e-08" />
</inertial>
</link>
<joint name="left_middle_dip" type="revolute">
<origin xyz="0.0 0.0 0.022" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_middle_middle_link" />
<child link="left_middle_distal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_middle_tip_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_middle_tip_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_middle_tip_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="7.964623181e-08 -0.007053282745 -0.0124432894" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00039026895252879" />
<inertia ixx="1.252669153e-08" ixy="-5.605241524e-13" ixz="1.886232611e-14" iyy="1.448171711e-08" iyz="-2.010901423e-09" izz="8.297125439e-09" />
</inertial>
</link>
<joint name="left_middle_tip" type="fixed">
<origin xyz="-4.300959559e-19 0.003512 0.026776" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_middle_distal_link" />
<child link="left_middle_tip_link" />
</joint>
<link name="left_ring_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_ring_proximal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_ring_proximal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.242193882e-08 -0.002455968698 0.01911421726" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00720026581090036" />
<inertia ixx="1.115770506e-06" ixy="-5.89521142e-14" ixz="-1.838953888e-12" iyy="1.101122903e-06" iyz="1.073845437e-07" izz="2.804968539e-07" />
</inertial>
</link>
<joint name="left_ring_mcp_flex" type="revolute">
<origin xyz="0.015626 -0.0011782 0.10542" rpy="-6.418116951e-18 0.05236 -0.03490699959" />
<parent link="left_base_link" />
<child link="left_ring_proximal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_ring_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_ring_middle_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_ring_middle_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="1.057681042e-08 -0.0003632676921 0.008760783581" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00276150640462905" />
<inertia ixx="1.804171105e-07" ixy="-2.512401597e-13" ixz="1.966632526e-13" iyy="1.989726583e-07" iyz="7.655879084e-09" izz="8.933523359e-08" />
</inertial>
</link>
<joint name="left_ring_pip" type="revolute">
<origin xyz="1.782350951e-19 -0.0014554 0.043" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_ring_proximal_link" />
<child link="left_ring_middle_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_ring_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_ring_distal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_ring_distal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-4.412362485e-07 -0.001202061168 0.00777174807" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00183637337497735" />
<inertia ixx="1.082304843e-07" ixy="-3.202251822e-12" ixz="-1.461606416e-14" iyy="1.002343374e-07" iyz="-1.858893833e-08" izz="3.571875116e-08" />
</inertial>
</link>
<joint name="left_ring_dip" type="revolute">
<origin xyz="0.0 0.0 0.022" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_ring_middle_link" />
<child link="left_ring_distal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_ring_tip_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_ring_tip_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_ring_tip_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="5.221739386e-09 -0.007053357318 -0.01244364681" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.000390294473374687" />
<inertia ixx="1.252701516e-08" ixy="-6.38921188e-13" ixz="-1.87641904e-13" iyy="1.448212933e-08" iyz="-2.010816734e-09" izz="8.29710673e-09" />
</inertial>
</link>
<joint name="left_ring_tip" type="fixed">
<origin xyz="-4.300959559e-19 0.003512 0.026776" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_ring_distal_link" />
<child link="left_ring_tip_link" />
</joint>
<link name="left_pinky_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_pinky_proximal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_pinky_proximal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="2.95727574e-08 -0.002455975577 0.01911422017" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00720026164932404" />
<inertia ixx="1.115769937e-06" ixy="4.214933571e-14" ixz="-1.402176138e-12" iyy="1.101122155e-06" iyz="1.073838546e-07" izz="2.804962456e-07" />
</inertial>
</link>
<joint name="left_pinky_mcp_flex" type="revolute">
<origin xyz="0.038266 -0.0036416 0.092393" rpy="-1.287158685e-17 0.10472 -0.06994599959" />
<parent link="left_base_link" />
<child link="left_pinky_proximal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_pinky_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_pinky_middle_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_pinky_middle_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="7.303305183e-09 -0.0003632684908 0.008760785402" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00276150617991104" />
<inertia ixx="1.804171466e-07" ixy="-2.773708878e-13" ixz="2.37462864e-13" iyy="1.989725922e-07" iyz="7.655983183e-09" izz="8.933530525e-08" />
</inertial>
</link>
<joint name="left_pinky_pip" type="revolute">
<origin xyz="1.782350951e-19 -0.0014554 0.043" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_pinky_proximal_link" />
<child link="left_pinky_middle_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_pinky_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_pinky_distal_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_pinky_distal_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-4.31454935e-07 -0.001202023464 0.007772634994" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.00183662951045839" />
<inertia ixx="1.082417933e-07" ixy="-3.026676432e-12" ixz="1.265623208e-13" iyy="1.002456947e-07" iyz="-1.858862546e-08" izz="3.572061851e-08" />
</inertial>
</link>
<joint name="left_pinky_dip" type="revolute">
<origin xyz="0.0 0.0 0.022" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_pinky_middle_link" />
<child link="left_pinky_distal_link" />
<axis xyz="1.0 1.224646799e-16 0.0" />
<limit effort="0.0" velocity="0.0" lower="0.0" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="left_pinky_tip_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_pinky_tip_link.STL" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -3.141592654" />
<geometry>
<mesh filename="package://aero_hand_open_description/meshes/left_pinky_tip_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-2.460970051e-08 -0.007053360457 -0.01244365032" rpy="0.0 -0.0 -3.141592654" />
<mass value="0.000390294871676775" />
<inertia ixx="1.252696421e-08" ixy="-6.555269824e-13" ixz="-1.630047503e-13" iyy="1.448216561e-08" iyz="-2.010837518e-09" izz="8.29712913e-09" />
</inertial>
</link>
<joint name="left_pinky_tip" type="fixed">
<origin xyz="-4.300959559e-19 0.003512 0.026776" rpy="0.0 -0.0 -4.102069795e-10" />
<parent link="left_pinky_distal_link" />
<child link="left_pinky_tip_link" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 99e5057d08aee419 -->
<mujoco model="aero_hand_open_left">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="left_base_link" file="aero_hand_open_description/meshes/left_base_link.STL" />
<mesh name="left_t_link" file="aero_hand_open_description/meshes/left_t_link.STL" />
<mesh name="left_thumb_mcp_link" file="aero_hand_open_description/meshes/left_thumb_mcp_link.STL" />
<mesh name="left_thumb_proximal_link" file="aero_hand_open_description/meshes/left_thumb_proximal_link.STL" />
<mesh name="left_thumb_distal_link" file="aero_hand_open_description/meshes/left_thumb_distal_link.STL" />
<mesh name="left_thumb_tip_link" file="aero_hand_open_description/meshes/left_thumb_tip_link.STL" />
<mesh name="left_index_proximal_link" file="aero_hand_open_description/meshes/left_index_proximal_link.STL" />
<mesh name="left_index_middle_link" file="aero_hand_open_description/meshes/left_index_middle_link.STL" />
<mesh name="left_index_distal_link" file="aero_hand_open_description/meshes/left_index_distal_link.STL" />
<mesh name="left_index_tip_link" file="aero_hand_open_description/meshes/left_index_tip_link.STL" />
<mesh name="left_middle_proximal_link" file="aero_hand_open_description/meshes/left_middle_proximal_link.STL" />
<mesh name="left_middle_middle_link" file="aero_hand_open_description/meshes/left_middle_middle_link.STL" />
<mesh name="left_middle_distal_link" file="aero_hand_open_description/meshes/left_middle_distal_link.STL" />
<mesh name="left_middle_tip_link" file="aero_hand_open_description/meshes/left_middle_tip_link.STL" />
<mesh name="left_ring_proximal_link" file="aero_hand_open_description/meshes/left_ring_proximal_link.STL" />
<mesh name="left_ring_middle_link" file="aero_hand_open_description/meshes/left_ring_middle_link.STL" />
<mesh name="left_ring_distal_link" file="aero_hand_open_description/meshes/left_ring_distal_link.STL" />
<mesh name="left_ring_tip_link" file="aero_hand_open_description/meshes/left_ring_tip_link.STL" />
<mesh name="left_pinky_proximal_link" file="aero_hand_open_description/meshes/left_pinky_proximal_link.STL" />
<mesh name="left_pinky_middle_link" file="aero_hand_open_description/meshes/left_pinky_middle_link.STL" />
<mesh name="left_pinky_distal_link" file="aero_hand_open_description/meshes/left_pinky_distal_link.STL" />
<mesh name="left_pinky_tip_link" file="aero_hand_open_description/meshes/left_pinky_tip_link.STL" />
</asset>
<worldbody>
<body name="left_base_link">
<inertial pos="-0.001091225077 0.00334946624 0.04898559343" mass="0.303576106034272" fullinertia="0.00032048464759784894 0.0004983212603021511 0.0002368458274 -2.6219078810502023e-06 1.782731330779018e-05 1.8990854892687114e-05" />
<geom name="left_base_link_vis_0" type="mesh" mesh="left_base_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_base_link_col_0" type="mesh" mesh="left_base_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_t_link" pos="-0.028112 -0.0145 0.025363" quat="0.5794647294924841 -0.40573241259427245 -0.4054094455791426 0.5790034698340293">
<joint name="left_thumb_cmc_abd" type="hinge" axis="1.224646799e-16 -1.0 0.0" range="0.0 1.7453" />
<inertial pos="0.0008835251048 0.0017040798 0.008310282404" mass="0.00833536405562315" fullinertia="8.981963418584605e-07 6.566000380415396e-07 4.946423052e-07 -5.063242626910446e-08 7.8084778727275e-08 1.1524674686796909e-07" />
<geom name="left_t_link_vis_0" type="mesh" mesh="left_t_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_t_link_col_0" type="mesh" mesh="left_t_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_thumb_mcp_link" pos="0.003475 0.003808 0.019656" quat="0.9845249296216098 0.07702312225985904 0.0798388310039123 -0.13566083684997618">
<joint name="left_thumb_cmc_flex" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 0.9599" />
<inertial pos="1.9848e-07 0.00075445 0.014668" mass="0.008207" fullinertia="1.1500999999999869e-06 1.2374000000000131e-06 5.8804e-07 -1.589096418894138e-11 -2.14420120781307e-11 -2.9443999999991204e-08" />
<geom name="left_thumb_mcp_link_vis_0" type="mesh" mesh="left_thumb_mcp_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_thumb_mcp_link_col_0" type="mesh" mesh="left_thumb_mcp_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_thumb_proximal_link" pos="-4.142000404e-19 0.0033822 0.035848" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_thumb_mcp" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="-7.9121e-09 0.001007 0.011955" mass="0.005471" fullinertia="5.626600000000104e-07 6.625899999999896e-07 3.2352e-07 1.2619040991971223e-11 4.648795764203994e-12 -1.0326000000001907e-08" />
<geom name="left_thumb_proximal_link_vis_0" type="mesh" mesh="left_thumb_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_thumb_proximal_link_col_0" type="mesh" mesh="left_thumb_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_thumb_distal_link" pos="-2.701570839e-19 0.002206 0.029919" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_thumb_ip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="6.4155e-07 -0.0011983 0.010377" mass="0.0032396" fullinertia="2.743299999999971e-07 2.579100000000029e-07 1.196e-07 -3.5329067355965927e-12 1.7025022727510913e-11 5.540499999999302e-08" />
<geom name="left_thumb_distal_link_vis_0" type="mesh" mesh="left_thumb_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_thumb_distal_link_col_0" type="mesh" mesh="left_thumb_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_thumb_tip_link" pos="-7.283464373e-19 0.0059474 0.031823" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<inertial pos="-2.2383e-07 -0.010203 -0.013939" mass="0.00086967" fullinertia="5.0257000000003664e-08 6.202499999999634e-08 3.845e-08 4.472004827314294e-12 -3.874696457002355e-12 8.63710000000159e-09" />
<geom name="left_thumb_tip_link_vis_0" type="mesh" mesh="left_thumb_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_thumb_tip_link_col_0" type="mesh" mesh="left_thumb_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="left_index_proximal_link" pos="-0.030626 -0.0011782 0.10542" quat="0.9995050671044714 0.0004568572342431833 -0.02617302252694591 0.017446633077982394">
<joint name="left_index_mcp_flex" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="-4.305299929e-08 -0.002455960396 0.01911425149" mass="0.00720026836301954" fullinertia="1.115769797000002e-06 1.101122700999998e-06 2.80496727e-07 2.4266363056607852e-12 -8.5311610723333e-12 -1.0738565809999651e-07" />
<geom name="left_index_proximal_link_vis_0" type="mesh" mesh="left_index_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_index_proximal_link_col_0" type="mesh" mesh="left_index_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_index_middle_link" pos="1.782350951e-19 -0.0014554 0.043" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_index_pip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="6.479857529e-09 -0.0003632696147 0.008760790088" mass="0.00276150356687874" fullinertia="1.804168857999999e-07 1.9897239150000009e-07 8.933516847e-08 -1.1169807410432619e-13 -3.179456832303889e-14 -7.655827748999986e-09" />
<geom name="left_index_middle_link_vis_0" type="mesh" mesh="left_index_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_index_middle_link_col_0" type="mesh" mesh="left_index_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_index_distal_link" pos="0.0 0.0 0.022" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_index_dip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="-3.346719613e-07 -0.001202241437 0.007772347078" mass="0.00183663667769987" fullinertia="1.0824117939999818e-07 1.0024267180000183e-07 3.572116674e-08 -2.2262277290426637e-12 4.5156869147636536e-13 1.8590562869999816e-08" />
<geom name="left_index_distal_link_vis_0" type="mesh" mesh="left_index_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_index_distal_link_col_0" type="mesh" mesh="left_index_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_index_tip_link" pos="-4.300959559e-19 0.003512 0.026776" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<inertial pos="-2.379809052e-08 -0.007053532731 -0.01244340812" mass="0.000390243409160287" fullinertia="1.252591523999965e-08 1.448139573000035e-08 8.296529147e-09 -4.2586783344849425e-13 -9.338381483359e-14 2.0106109780000383e-09" />
<geom name="left_index_tip_link_vis_0" type="mesh" mesh="left_index_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_index_tip_link_col_0" type="mesh" mesh="left_index_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
</body>
</body>
</body>
</body>
<body name="left_middle_proximal_link" pos="-0.0075 -9.184850994e-19 0.106" quat="1.0 0.0 0.0 2.0510348975e-10">
<joint name="left_middle_mcp_flex" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="-3.048637389e-08 -0.002455964113 0.01911425441" mass="0.0072002618370038" fullinertia="1.1157692370000024e-06 1.1011218949999977e-06 2.804963666e-07 2.8731411105598744e-12 -7.931883942932322e-12 -1.0738468059999675e-07" />
<geom name="left_middle_proximal_link_vis_0" type="mesh" mesh="left_middle_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_middle_proximal_link_col_0" type="mesh" mesh="left_middle_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_middle_middle_link" pos="1.782350951e-19 -0.0014554 0.043" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_middle_pip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="2.85973602e-09 -0.0003632643325 0.008760781465" mass="0.00276150069139886" fullinertia="1.8041661719999986e-07 1.9897228700000013e-07 8.933498943e-08 -1.5300339173701124e-13 -1.4110680471668221e-13 -7.655690362999941e-09" />
<geom name="left_middle_middle_link_vis_0" type="mesh" mesh="left_middle_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_middle_middle_link_col_0" type="mesh" mesh="left_middle_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_middle_distal_link" pos="0.0 0.0 0.022" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_middle_dip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="-1.252059834e-07 -0.001202236412 0.007773249197" mass="0.00183690507488675" fullinertia="1.082531080999982e-07 1.002546869000018e-07 3.572314022e-08 -2.193352899007222e-12 2.525078758838638e-12 1.8590227119998965e-08" />
<geom name="left_middle_distal_link_vis_0" type="mesh" mesh="left_middle_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_middle_distal_link_col_0" type="mesh" mesh="left_middle_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_middle_tip_link" pos="-4.300959559e-19 0.003512 0.026776" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<inertial pos="7.964623181e-08 -0.007053282745 -0.0124432894" mass="0.00039026895252879" fullinertia="1.252669152999954e-08 1.4481717110000459e-08 8.297125439e-09 -5.605233504351015e-13 -1.8861501224447474e-14 2.0109014230000078e-09" />
<geom name="left_middle_tip_link_vis_0" type="mesh" mesh="left_middle_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_middle_tip_link_col_0" type="mesh" mesh="left_middle_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
</body>
</body>
</body>
</body>
<body name="left_ring_proximal_link" pos="0.015626 -0.0011782 0.10542" quat="0.9995050671044714 0.0004568572342431769 0.02617302252694591 -0.017446633077982394">
<joint name="left_ring_mcp_flex" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="2.242193882e-08 -0.002455968698 0.01911421726" mass="0.00720026581090036" fullinertia="1.115770506e-06 1.101122903e-06 2.804968539e-07 -5.895812274718966e-14 1.8389098381238353e-12 -1.0738454370000075e-07" />
<geom name="left_ring_proximal_link_vis_0" type="mesh" mesh="left_ring_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_ring_proximal_link_col_0" type="mesh" mesh="left_ring_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_ring_middle_link" pos="1.782350951e-19 -0.0014554 0.043" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_ring_pip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="1.057681042e-08 -0.0003632676921 0.008760783581" mass="0.00276150640462905" fullinertia="1.8041711049999979e-07 1.9897265830000022e-07 8.933523359e-08 -2.5123254808705647e-13 -1.9666639309409684e-13 -7.655879083999919e-09" />
<geom name="left_ring_middle_link_vis_0" type="mesh" mesh="left_ring_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_ring_middle_link_col_0" type="mesh" mesh="left_ring_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_ring_distal_link" pos="0.0 0.0 0.022" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_ring_dip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="-4.412362485e-07 -0.001202061168 0.00777174807" mass="0.00183637337497735" fullinertia="1.0823048429999737e-07 1.0023433740000263e-07 3.571875116e-08 -3.202255102074288e-12 1.4623689469967886e-14 1.8588938329999995e-08" />
<geom name="left_ring_distal_link_vis_0" type="mesh" mesh="left_ring_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_ring_distal_link_col_0" type="mesh" mesh="left_ring_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_ring_tip_link" pos="-4.300959559e-19 0.003512 0.026776" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<inertial pos="5.221739386e-09 -0.007053357318 -0.01244364681" mass="0.000390294473374687" fullinertia="1.2527015159999476e-08 1.4482129330000524e-08 8.29710673e-09 -6.389203859987612e-13 1.8764272885081252e-13 2.0108167339999233e-09" />
<geom name="left_ring_tip_link_vis_0" type="mesh" mesh="left_ring_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_ring_tip_link_col_0" type="mesh" mesh="left_ring_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
</body>
</body>
</body>
</body>
<body name="left_pinky_proximal_link" pos="0.038266 -0.0036416 0.092393" quat="0.9980188733538562 0.0018299765659574134 0.052304075368264674 -0.03491795118758404">
<joint name="left_pinky_mcp_flex" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="2.95727574e-08 -0.002455975577 0.01911422017" mass="0.00720026164932404" fullinertia="1.115769937e-06 1.101122155e-06 2.804962456e-07 4.214332708938331e-14 1.4021320884065086e-12 -1.0738385460000057e-07" />
<geom name="left_pinky_proximal_link_vis_0" type="mesh" mesh="left_pinky_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_pinky_proximal_link_col_0" type="mesh" mesh="left_pinky_proximal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_pinky_middle_link" pos="1.782350951e-19 -0.0014554 0.043" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_pinky_pip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="7.303305183e-09 -0.0003632684908 0.008760785402" mass="0.00276150617991104" fullinertia="1.8041714659999975e-07 1.9897259220000025e-07 8.933530525e-08 -2.773632762289796e-13 -2.37466004536799e-13 -7.655983182999902e-09" />
<geom name="left_pinky_middle_link_vis_0" type="mesh" mesh="left_pinky_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_pinky_middle_link_col_0" type="mesh" mesh="left_pinky_middle_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_pinky_distal_link" pos="0.0 0.0 0.022" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<joint name="left_pinky_dip" type="hinge" axis="1.0 1.224646799e-16 0.0" range="0.0 1.5708" />
<inertial pos="-4.31454935e-07 -0.001202023464 0.007772634994" mass="0.00183662951045839" fullinertia="1.0824179329999751e-07 1.0024569470000249e-07 3.572061851e-08 -3.0266797120544752e-12 -1.2655469561837354e-13 1.8588625460000054e-08" />
<geom name="left_pinky_distal_link_vis_0" type="mesh" mesh="left_pinky_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_pinky_distal_link_col_0" type="mesh" mesh="left_pinky_distal_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
<body name="left_pinky_tip_link" pos="-4.300959559e-19 0.003512 0.026776" quat="1.0 0.0 -0.0 -2.0510348975e-10">
<inertial pos="-2.460970051e-08 -0.007053360457 -0.01244365032" mass="0.000390294871676775" fullinertia="1.2526964209999463e-08 1.4482165610000538e-08 8.29712913e-09 -6.555261803629788e-13 1.6300557515933824e-13 2.010837517999933e-09" />
<geom name="left_pinky_tip_link_vis_0" type="mesh" mesh="left_pinky_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" contype="0" conaffinity="0" group="2" />
<geom name="left_pinky_tip_link_col_0" type="mesh" mesh="left_pinky_tip_link" quat="-2.0510342851533115e-10 -0.0 0.0 -1.0" group="3" />
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="left_base_link" body2="left_t_link" />
<exclude body1="left_t_link" body2="left_thumb_mcp_link" />
<exclude body1="left_thumb_mcp_link" body2="left_thumb_proximal_link" />
<exclude body1="left_thumb_proximal_link" body2="left_thumb_distal_link" />
<exclude body1="left_thumb_distal_link" body2="left_thumb_tip_link" />
<exclude body1="left_base_link" body2="left_index_proximal_link" />
<exclude body1="left_index_proximal_link" body2="left_index_middle_link" />
<exclude body1="left_index_middle_link" body2="left_index_distal_link" />
<exclude body1="left_index_distal_link" body2="left_index_tip_link" />
<exclude body1="left_base_link" body2="left_middle_proximal_link" />
<exclude body1="left_middle_proximal_link" body2="left_middle_middle_link" />
<exclude body1="left_middle_middle_link" body2="left_middle_distal_link" />
<exclude body1="left_middle_distal_link" body2="left_middle_tip_link" />
<exclude body1="left_base_link" body2="left_ring_proximal_link" />
<exclude body1="left_ring_proximal_link" body2="left_ring_middle_link" />
<exclude body1="left_ring_middle_link" body2="left_ring_distal_link" />
<exclude body1="left_ring_distal_link" body2="left_ring_tip_link" />
<exclude body1="left_base_link" body2="left_pinky_proximal_link" />
<exclude body1="left_pinky_proximal_link" body2="left_pinky_middle_link" />
<exclude body1="left_pinky_middle_link" body2="left_pinky_distal_link" />
<exclude body1="left_pinky_distal_link" body2="left_pinky_tip_link" />
</contact>
</mujoco>
Import report
Counts
| Links | 22 |
|---|---|
| Joints | 21 |
| Moving joints | 16 |
| Visuals | 22 |
| Collisions | 22 |
| Materials | 0 |
Meshes
Formats: stl.
Asset size: 4.1 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 5 | fixed joints carry no <axis>; URDF ignores it too |
material | 22 | anonymous material (empty name) cannot be referenced; its colour is not kept |
Forward-kinematics check
Forward kinematics of 22 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 3.4e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 16).
Source & licence
| Repository | https://github.com/TetherIA/aero-hand-open |
|---|---|
| Commit | ad7d4fc4078ceedfeefbf27aa5f058b622e18521 |
| Original file | ros2/src/aero_hand_open_description/urdf/aero_hand_open_left.urdf |
| Licence | CC-BY-SA-4.0 · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.