Allegro Hand
Wonik Robotics · licence BSD · source: github.com/RobotLocomotion/drake @ 7abea0556
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 0af7ee7209c839bd -->
<robot name="allegro_hand_left">
<link name="hand_root" />
<joint name="root_to_base" type="fixed">
<origin xyz="0.0 0.0 0.095" rpy="0.0 0.0 0.0" />
<parent link="hand_root" />
<child link="palm_link" />
</joint>
<material name="black">
<color rgba="0.2 0.2 0.2 1.0" />
</material>
<link name="palm_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963259 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/base_link_left.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="-0.0093 0.0 -0.0475" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0408 0.113 0.095" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.4154" />
<inertia ixx="0.002089" ixy="-3.6e-06" ixz="0.0002233" iyy="0.001829" iyz="-1.8e-05" izz="0.0004825" />
</inertial>
</link>
<link name="link_8">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_0.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0082" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0164" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0119" />
<inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06" />
</inertial>
</link>
<joint name="joint_8" type="revolute">
<origin xyz="0.0 0.0435 -0.001542" rpy="0.08726646255 0.0 0.0" />
<parent link="palm_link" />
<child link="link_8" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="0.7" velocity="7.0" lower="-0.47" upper="0.47" />
<dynamics damping="0.015" friction="10.0" />
</joint>
<link name="link_9">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_1.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.027" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.054" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.065" />
<inertia ixx="7.192e-05" ixy="0.0" ixz="0.0" iyy="7.438e-05" iyz="7.322e-07" izz="5.406e-06" />
</inertial>
</link>
<joint name="joint_9" type="revolute">
<origin xyz="0.0 0.0 0.0164" rpy="0.0 0.0 0.0" />
<parent link="link_8" />
<child link="link_9" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.196" upper="1.61" />
<dynamics damping="0.015" friction="5.0" />
</joint>
<link name="link_10">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_2.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0192" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0384" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0355" />
<inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06" />
</inertial>
</link>
<joint name="joint_10" type="revolute">
<origin xyz="0.0 0.0 0.054" rpy="0.0 0.0 0.0" />
<parent link="link_9" />
<child link="link_10" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.174" upper="1.709" />
<dynamics damping="0.015" friction="10.0" />
</joint>
<link name="link_11">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_3.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.01335" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0267" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0096" />
<inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06" />
</inertial>
</link>
<joint name="joint_11" type="revolute">
<origin xyz="0.0 0.0 0.0384" rpy="0.0 0.0 0.0" />
<parent link="link_10" />
<child link="link_11" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.227" upper="1.618" />
<dynamics damping="0.015" friction="12.0" />
</joint>
<material name="white">
<color rgba="0.9 0.9 0.9 1.0" />
</material>
<link name="link_11_tip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_3.0_tip.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.012" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0168" />
<inertia ixx="1.19599e-05" ixy="0.0" ixz="0.0" iyy="1.19598e-05" iyz="0.0" izz="1.10345e-06" />
</inertial>
</link>
<joint name="joint_11_tip" type="fixed">
<origin xyz="0.0 0.0 0.0267" rpy="0.0 0.0 0.0" />
<parent link="link_11" />
<child link="link_11_tip" />
</joint>
<link name="link_4">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_0.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0082" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0164" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0119" />
<inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06" />
</inertial>
</link>
<joint name="joint_4" type="revolute">
<origin xyz="0.0 0.0 0.0007" rpy="0.0 0.0 0.0" />
<parent link="palm_link" />
<child link="link_4" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="0.7" velocity="7.0" lower="-0.47" upper="0.47" />
<dynamics damping="0.015" friction="10.0" />
</joint>
<link name="link_5">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_1.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.027" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.054" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.065" />
<inertia ixx="7.19218e-05" ixy="0.0" ixz="0.0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06" />
</inertial>
</link>
<joint name="joint_5" type="revolute">
<origin xyz="0.0 0.0 0.0164" rpy="0.0 0.0 0.0" />
<parent link="link_4" />
<child link="link_5" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.196" upper="1.61" />
<dynamics damping="0.015" friction="5.0" />
</joint>
<link name="link_6">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_2.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0192" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0384" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0355" />
<inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06" />
</inertial>
</link>
<joint name="joint_6" type="revolute">
<origin xyz="0.0 0.0 0.054" rpy="0.0 0.0 0.0" />
<parent link="link_5" />
<child link="link_6" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.174" upper="1.709" />
<dynamics damping="0.015" friction="10.0" />
</joint>
<link name="link_7">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_3.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.01335" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0267" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0096" />
<inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06" />
</inertial>
</link>
<joint name="joint_7" type="revolute">
<origin xyz="0.0 0.0 0.0384" rpy="0.0 0.0 0.0" />
<parent link="link_6" />
<child link="link_7" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.227" upper="1.618" />
<dynamics damping="0.015" friction="12.0" />
</joint>
<link name="link_7_tip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_3.0_tip.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.012" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0168" />
<inertia ixx="1.19599e-05" ixy="0.0" ixz="0.0" iyy="1.19598e-05" iyz="0.0" izz="1.10345e-06" />
</inertial>
</link>
<joint name="joint_7_tip" type="fixed">
<origin xyz="0.0 0.0 0.0267" rpy="0.0 0.0 0.0" />
<parent link="link_7" />
<child link="link_7_tip" />
</joint>
<link name="link_0">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_0.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0082" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0164" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0119" />
<inertia ixx="1.95377e-06" ixy="3.03372e-09" ixz="8.92323e-08" iyy="1.17908e-06" iyz="-3.7069e-08" izz="1.49673e-06" />
</inertial>
</link>
<joint name="joint_0" type="revolute">
<origin xyz="0.0 -0.0435 -0.001542" rpy="0.08726646255 0.0 0.0" />
<parent link="palm_link" />
<child link="link_0" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="0.7" velocity="7.0" lower="-0.47" upper="0.47" />
<dynamics damping="0.015" friction="10.0" />
</joint>
<link name="link_1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_1.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.027" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.054" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.065" />
<inertia ixx="7.19218e-05" ixy="0.0" ixz="0.0" iyy="7.4377e-05" iyz="7.32186e-07" izz="5.40622e-06" />
</inertial>
</link>
<joint name="joint_1" type="revolute">
<origin xyz="0.0 0.0 0.0164" rpy="0.0 0.0 0.0" />
<parent link="link_0" />
<child link="link_1" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.196" upper="1.61" />
<dynamics damping="0.015" friction="5.0" />
</joint>
<link name="link_2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_2.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0192" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0384" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0355" />
<inertia ixx="3.16925e-05" ixy="1.07094e-09" ixz="-4.91273e-09" iyy="3.10516e-05" iyz="3.87549e-08" izz="3.20319e-06" />
</inertial>
</link>
<joint name="joint_2" type="revolute">
<origin xyz="0.0 0.0 0.054" rpy="0.0 0.0 0.0" />
<parent link="link_1" />
<child link="link_2" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.174" upper="1.709" />
<dynamics damping="0.015" friction="10.0" />
</joint>
<link name="link_3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_3.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.01335" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0267" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0096" />
<inertia ixx="2.13975e-06" ixy="1.59554e-09" ixz="-7.47528e-09" iyy="1.52036e-06" iyz="-9.89336e-09" izz="1.20271e-06" />
</inertial>
</link>
<joint name="joint_3" type="revolute">
<origin xyz="0.0 0.0 0.0384" rpy="0.0 0.0 0.0" />
<parent link="link_2" />
<child link="link_3" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.227" upper="1.618" />
<dynamics damping="0.015" friction="12.0" />
</joint>
<link name="link_3_tip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_3.0_tip.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.012" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0168" />
<inertia ixx="1.19599e-05" ixy="0.0" ixz="0.0" iyy="1.19598e-05" iyz="0.0" izz="1.10345e-06" />
</inertial>
</link>
<joint name="joint_3_tip" type="fixed">
<origin xyz="0.0 0.0 0.0267" rpy="0.0 0.0 0.0" />
<parent link="link_3" />
<child link="link_3_tip" />
</joint>
<link name="link_12">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.1415926518 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_12.0_left.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="-0.0179 0.009 0.0145" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0358 0.034 0.0455" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0176" />
<inertia ixx="8.13883e-06" ixy="-2.55226e-06" ixz="3.89933e-06" iyy="1.31421e-05" iyz="1.46267e-06" izz="1.00171e-05" />
</inertial>
</link>
<joint name="joint_12" type="revolute">
<origin xyz="-0.0182 -0.019333 -0.045987" rpy="0.0 -1.65806278845 1.5707963259" />
<parent link="palm_link" />
<child link="link_12" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="0.263" upper="1.396" />
<dynamics damping="0.015" friction="10.0" />
</joint>
<link name="link_13">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_13.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.00885" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0177" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0119" />
<inertia ixx="1.9263e-06" ixy="3.05433e-09" ixz="8.86582e-08" iyy="1.15276e-06" iyz="-3.64521e-08" izz="1.4957e-06" />
</inertial>
</link>
<joint name="joint_13" type="revolute">
<origin xyz="-0.027 -0.005 0.0399" rpy="0.0 0.0 0.0" />
<parent link="link_12" />
<child link="link_13" />
<axis xyz="0.0 0.0 -1.0" />
<limit effort="0.7" velocity="7.0" lower="-0.105" upper="1.163" />
<dynamics damping="0.015" friction="5.0" />
</joint>
<link name="link_14">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_14.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0257" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0514" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.038" />
<inertia ixx="3.67044e-05" ixy="1.02277e-09" ixz="1.4854e-07" iyy="3.54042e-05" iyz="-3.67203e-08" izz="3.63275e-06" />
</inertial>
</link>
<joint name="joint_14" type="revolute">
<origin xyz="0.0 0.0 0.0177" rpy="0.0 0.0 0.0" />
<parent link="link_13" />
<child link="link_14" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.189" upper="1.644" />
<dynamics damping="0.015" friction="10.0" />
</joint>
<link name="link_15">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_15.0.obj" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.02115" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.0196 0.0275 0.0423" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0388" />
<inertia ixx="4.30919e-05" ixy="0.0" ixz="0.0" iyy="3.85425e-05" iyz="-3.0146e-08" izz="1.72974e-05" />
</inertial>
</link>
<joint name="joint_15" type="revolute">
<origin xyz="0.0 0.0 0.0514" rpy="0.0 0.0 0.0" />
<parent link="link_14" />
<child link="link_15" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.7" velocity="7.0" lower="-0.162" upper="1.719" />
<dynamics damping="0.015" friction="12.0" />
</joint>
<link name="link_15_tip">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://drake/manipulation/models/allegro_hand_description/meshes/link_15.0_tip.obj" />
</geometry>
<material name="white" />
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.012" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.0168" />
<inertia ixx="1.19599e-05" ixy="0.0" ixz="0.0" iyy="1.19598e-05" iyz="0.0" izz="1.10345e-06" />
</inertial>
</link>
<joint name="joint_15_tip" type="fixed">
<origin xyz="0.0 0.0 0.0423" rpy="0.0 0.0 0.0" />
<parent link="link_15" />
<child link="link_15_tip" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 0af7ee7209c839bd -->
<mujoco model="allegro_hand_left">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<material name="black" rgba="0.2 0.2 0.2 1.0" />
<material name="white" rgba="0.9 0.9 0.9 1.0" />
<mesh name="base_link_left" file="drake/manipulation/models/allegro_hand_description/meshes/base_link_left.obj" />
<mesh name="link_0.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_0.0.obj" />
<mesh name="link_1.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_1.0.obj" />
<mesh name="link_2.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_2.0.obj" />
<mesh name="link_3.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_3.0.obj" />
<mesh name="link_3.0_tip" file="drake/manipulation/models/allegro_hand_description/meshes/link_3.0_tip.obj" />
<mesh name="link_12.0_left" file="drake/manipulation/models/allegro_hand_description/meshes/link_12.0_left.obj" />
<mesh name="link_13.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_13.0.obj" />
<mesh name="link_14.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_14.0.obj" />
<mesh name="link_15.0" file="drake/manipulation/models/allegro_hand_description/meshes/link_15.0.obj" />
<mesh name="link_15.0_tip" file="drake/manipulation/models/allegro_hand_description/meshes/link_15.0_tip.obj" />
</asset>
<worldbody>
<body name="hand_root">
<body name="palm_link" pos="0.0 0.0 0.095">
<inertial pos="0.0 0.0 0.0" mass="0.4154" fullinertia="0.002089 0.001829 0.0004825 -3.6e-06 0.0002233 -1.8e-05" />
<geom name="palm_link_vis_0" type="mesh" mesh="base_link_left" quat="0.7071067815029413 -0.7071067808701538 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="palm_link_col_0" type="box" size="0.0204 0.0565 0.0475" pos="-0.0093 0.0 -0.0475" group="3" />
<body name="link_8" pos="0.0 0.0435 -0.001542" quat="0.999048221582942 0.04361938734050142 0.0 0.0">
<joint name="joint_8" type="hinge" axis="0.0 0.0 -1.0" range="-0.47 0.47" damping="0.015" frictionloss="10.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0119" fullinertia="1.95377e-06 1.17908e-06 1.49673e-06 3.03372e-09 8.92323e-08 -3.7069e-08" />
<geom name="link_8_vis_0" type="mesh" mesh="link_0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_8_col_0" type="box" size="0.0098 0.01375 0.0082" pos="0.0 0.0 0.0082" group="3" />
<body name="link_9" pos="0.0 0.0 0.0164">
<joint name="joint_9" type="hinge" axis="0.0 1.0 0.0" range="-0.196 1.61" damping="0.015" frictionloss="5.0" />
<inertial pos="0.0 0.0 0.0" mass="0.065" fullinertia="7.192e-05 7.438e-05 5.406e-06 0.0 0.0 7.322e-07" />
<geom name="link_9_vis_0" type="mesh" mesh="link_1.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_9_col_0" type="box" size="0.0098 0.01375 0.027" pos="0.0 0.0 0.027" group="3" />
<body name="link_10" pos="0.0 0.0 0.054">
<joint name="joint_10" type="hinge" axis="0.0 1.0 0.0" range="-0.174 1.709" damping="0.015" frictionloss="10.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0355" fullinertia="3.16925e-05 3.10516e-05 3.20319e-06 1.07094e-09 -4.91273e-09 3.87549e-08" />
<geom name="link_10_vis_0" type="mesh" mesh="link_2.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_10_col_0" type="box" size="0.0098 0.01375 0.0192" pos="0.0 0.0 0.0192" group="3" />
<body name="link_11" pos="0.0 0.0 0.0384">
<joint name="joint_11" type="hinge" axis="0.0 1.0 0.0" range="-0.227 1.618" damping="0.015" frictionloss="12.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0096" fullinertia="2.13975e-06 1.52036e-06 1.20271e-06 1.59554e-09 -7.47528e-09 -9.89336e-09" />
<geom name="link_11_vis_0" type="mesh" mesh="link_3.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_11_col_0" type="box" size="0.0098 0.01375 0.01335" pos="0.0 0.0 0.01335" group="3" />
<body name="link_11_tip" pos="0.0 0.0 0.0267">
<inertial pos="0.0 0.0 0.0" mass="0.0168" fullinertia="1.19599e-05 1.19598e-05 1.10345e-06 0.0 0.0 0.0" />
<geom name="link_11_tip_vis_0" type="mesh" mesh="link_3.0_tip" contype="0" conaffinity="0" group="2" material="white" />
<geom name="link_11_tip_col_0" type="sphere" size="0.012" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="link_4" pos="0.0 0.0 0.0007">
<joint name="joint_4" type="hinge" axis="0.0 0.0 -1.0" range="-0.47 0.47" damping="0.015" frictionloss="10.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0119" fullinertia="1.95377e-06 1.17908e-06 1.49673e-06 3.03372e-09 8.92323e-08 -3.7069e-08" />
<geom name="link_4_vis_0" type="mesh" mesh="link_0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_4_col_0" type="box" size="0.0098 0.01375 0.0082" pos="0.0 0.0 0.0082" group="3" />
<body name="link_5" pos="0.0 0.0 0.0164">
<joint name="joint_5" type="hinge" axis="0.0 1.0 0.0" range="-0.196 1.61" damping="0.015" frictionloss="5.0" />
<inertial pos="0.0 0.0 0.0" mass="0.065" fullinertia="7.19218e-05 7.4377e-05 5.40622e-06 0.0 0.0 7.32186e-07" />
<geom name="link_5_vis_0" type="mesh" mesh="link_1.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_5_col_0" type="box" size="0.0098 0.01375 0.027" pos="0.0 0.0 0.027" group="3" />
<body name="link_6" pos="0.0 0.0 0.054">
<joint name="joint_6" type="hinge" axis="0.0 1.0 0.0" range="-0.174 1.709" damping="0.015" frictionloss="10.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0355" fullinertia="3.16925e-05 3.10516e-05 3.20319e-06 1.07094e-09 -4.91273e-09 3.87549e-08" />
<geom name="link_6_vis_0" type="mesh" mesh="link_2.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_6_col_0" type="box" size="0.0098 0.01375 0.0192" pos="0.0 0.0 0.0192" group="3" />
<body name="link_7" pos="0.0 0.0 0.0384">
<joint name="joint_7" type="hinge" axis="0.0 1.0 0.0" range="-0.227 1.618" damping="0.015" frictionloss="12.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0096" fullinertia="2.13975e-06 1.52036e-06 1.20271e-06 1.59554e-09 -7.47528e-09 -9.89336e-09" />
<geom name="link_7_vis_0" type="mesh" mesh="link_3.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_7_col_0" type="box" size="0.0098 0.01375 0.01335" pos="0.0 0.0 0.01335" group="3" />
<body name="link_7_tip" pos="0.0 0.0 0.0267">
<inertial pos="0.0 0.0 0.0" mass="0.0168" fullinertia="1.19599e-05 1.19598e-05 1.10345e-06 0.0 0.0 0.0" />
<geom name="link_7_tip_vis_0" type="mesh" mesh="link_3.0_tip" contype="0" conaffinity="0" group="2" material="white" />
<geom name="link_7_tip_col_0" type="sphere" size="0.012" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="link_0" pos="0.0 -0.0435 -0.001542" quat="0.999048221582942 0.04361938734050142 0.0 0.0">
<joint name="joint_0" type="hinge" axis="0.0 0.0 -1.0" range="-0.47 0.47" damping="0.015" frictionloss="10.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0119" fullinertia="1.95377e-06 1.17908e-06 1.49673e-06 3.03372e-09 8.92323e-08 -3.7069e-08" />
<geom name="link_0_vis_0" type="mesh" mesh="link_0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_0_col_0" type="box" size="0.0098 0.01375 0.0082" pos="0.0 0.0 0.0082" group="3" />
<body name="link_1" pos="0.0 0.0 0.0164">
<joint name="joint_1" type="hinge" axis="0.0 1.0 0.0" range="-0.196 1.61" damping="0.015" frictionloss="5.0" />
<inertial pos="0.0 0.0 0.0" mass="0.065" fullinertia="7.19218e-05 7.4377e-05 5.40622e-06 0.0 0.0 7.32186e-07" />
<geom name="link_1_vis_0" type="mesh" mesh="link_1.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_1_col_0" type="box" size="0.0098 0.01375 0.027" pos="0.0 0.0 0.027" group="3" />
<body name="link_2" pos="0.0 0.0 0.054">
<joint name="joint_2" type="hinge" axis="0.0 1.0 0.0" range="-0.174 1.709" damping="0.015" frictionloss="10.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0355" fullinertia="3.16925e-05 3.10516e-05 3.20319e-06 1.07094e-09 -4.91273e-09 3.87549e-08" />
<geom name="link_2_vis_0" type="mesh" mesh="link_2.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_2_col_0" type="box" size="0.0098 0.01375 0.0192" pos="0.0 0.0 0.0192" group="3" />
<body name="link_3" pos="0.0 0.0 0.0384">
<joint name="joint_3" type="hinge" axis="0.0 1.0 0.0" range="-0.227 1.618" damping="0.015" frictionloss="12.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0096" fullinertia="2.13975e-06 1.52036e-06 1.20271e-06 1.59554e-09 -7.47528e-09 -9.89336e-09" />
<geom name="link_3_vis_0" type="mesh" mesh="link_3.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_3_col_0" type="box" size="0.0098 0.01375 0.01335" pos="0.0 0.0 0.01335" group="3" />
<body name="link_3_tip" pos="0.0 0.0 0.0267">
<inertial pos="0.0 0.0 0.0" mass="0.0168" fullinertia="1.19599e-05 1.19598e-05 1.10345e-06 0.0 0.0 0.0" />
<geom name="link_3_tip_vis_0" type="mesh" mesh="link_3.0_tip" contype="0" conaffinity="0" group="2" material="white" />
<geom name="link_3_tip_col_0" type="sphere" size="0.012" group="3" />
</body>
</body>
</body>
</body>
</body>
<body name="link_12" pos="-0.0182 -0.019333 -0.045987" quat="0.47771441756824273 0.5213338040146993 -0.5213338044812392 0.4777144171407377">
<joint name="joint_12" type="hinge" axis="1.0 0.0 0.0" range="0.263 1.396" damping="0.015" frictionloss="10.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0176" fullinertia="8.13883e-06 1.31421e-05 1.00171e-05 -2.55226e-06 3.89933e-06 1.46267e-06" />
<geom name="link_12_vis_0" type="mesh" mesh="link_12.0_left" quat="8.948966624990769e-10 1.0 0.0 0.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_12_col_0" type="box" size="0.0179 0.017 0.02275" pos="-0.0179 0.009 0.0145" group="3" />
<body name="link_13" pos="-0.027 -0.005 0.0399">
<joint name="joint_13" type="hinge" axis="0.0 0.0 -1.0" range="-0.105 1.163" damping="0.015" frictionloss="5.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0119" fullinertia="1.9263e-06 1.15276e-06 1.4957e-06 3.05433e-09 8.86582e-08 -3.64521e-08" />
<geom name="link_13_vis_0" type="mesh" mesh="link_13.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_13_col_0" type="box" size="0.0098 0.01375 0.00885" pos="0.0 0.0 0.00885" group="3" />
<body name="link_14" pos="0.0 0.0 0.0177">
<joint name="joint_14" type="hinge" axis="0.0 1.0 0.0" range="-0.189 1.644" damping="0.015" frictionloss="10.0" />
<inertial pos="0.0 0.0 0.0" mass="0.038" fullinertia="3.67044e-05 3.54042e-05 3.63275e-06 1.02277e-09 1.4854e-07 -3.67203e-08" />
<geom name="link_14_vis_0" type="mesh" mesh="link_14.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_14_col_0" type="box" size="0.0098 0.01375 0.0257" pos="0.0 0.0 0.0257" group="3" />
<body name="link_15" pos="0.0 0.0 0.0514">
<joint name="joint_15" type="hinge" axis="0.0 1.0 0.0" range="-0.162 1.719" damping="0.015" frictionloss="12.0" />
<inertial pos="0.0 0.0 0.0" mass="0.0388" fullinertia="4.30919e-05 3.85425e-05 1.72974e-05 0.0 0.0 -3.0146e-08" />
<geom name="link_15_vis_0" type="mesh" mesh="link_15.0" contype="0" conaffinity="0" group="2" material="black" />
<geom name="link_15_col_0" type="box" size="0.0098 0.01375 0.02115" pos="0.0 0.0 0.02115" group="3" />
<body name="link_15_tip" pos="0.0 0.0 0.0423">
<inertial pos="0.0 0.0 0.0" mass="0.0168" fullinertia="1.19599e-05 1.19598e-05 1.10345e-06 0.0 0.0 0.0" />
<geom name="link_15_tip_vis_0" type="mesh" mesh="link_15.0_tip" contype="0" conaffinity="0" group="2" material="white" />
<geom name="link_15_tip_col_0" type="sphere" size="0.012" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="hand_root" body2="palm_link" />
<exclude body1="palm_link" body2="link_8" />
<exclude body1="link_8" body2="link_9" />
<exclude body1="link_9" body2="link_10" />
<exclude body1="link_10" body2="link_11" />
<exclude body1="link_11" body2="link_11_tip" />
<exclude body1="palm_link" body2="link_4" />
<exclude body1="link_4" body2="link_5" />
<exclude body1="link_5" body2="link_6" />
<exclude body1="link_6" body2="link_7" />
<exclude body1="link_7" body2="link_7_tip" />
<exclude body1="palm_link" body2="link_0" />
<exclude body1="link_0" body2="link_1" />
<exclude body1="link_1" body2="link_2" />
<exclude body1="link_2" body2="link_3" />
<exclude body1="link_3" body2="link_3_tip" />
<exclude body1="palm_link" body2="link_12" />
<exclude body1="link_12" body2="link_13" />
<exclude body1="link_13" body2="link_14" />
<exclude body1="link_14" body2="link_15" />
<exclude body1="link_15" body2="link_15_tip" />
</contact>
</mujoco>
Import report
Counts
| Links | 22 |
|---|---|
| Joints | 21 |
| Moving joints | 16 |
| Visuals | 21 |
| Collisions | 21 |
| Materials | 2 |
Meshes
Formats: obj.
Asset size: 1.6 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
origin | 1 | <origin> is not part of the URDF subset RobotDescription mirrors |
transmission | 16 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
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 · 3.0e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 16).
Source & licence
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.