Eve R3
Halodi · licence Apache-2.0 · source: github.com/robot-descriptions/halodi-robot-models @ 5d1d5eb3c
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 99a5bfb3628ff51b -->
<robot name="eve_r3">
<link name="pelvis">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/torso.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.02071479 -0.00544353 0.4100644" rpy="0.0 0.0 0.0" />
<mass value="10.12075049" />
<inertia ixx="0.2085075" ixy="0.0008581" ixz="0.02176178" iyy="0.20882646" iyz="-0.00715583" izz="0.05515818" />
</inertial>
</link>
<joint name="j_hip_z" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="abdomen" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="1e+30" velocity="1e+30" lower="-1.0472" upper="1.0472" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="abdomen">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/abdomen.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.055941 0.001616 0.129607" rpy="0.0 0.0 0.0" />
<mass value="3.429553" />
<inertia ixx="0.055816" ixy="0.000693" ixz="-0.014517" iyy="0.054022" iyz="-0.001917" izz="0.020076" />
</inertial>
</link>
<joint name="j_hip_x" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="abdomen" />
<child link="hip_x_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-0.523599" upper="0.523599" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="hip_x_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/hip.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.01325838 -0.00134592 -2.24e-06" rpy="0.0 0.0 0.0" />
<mass value="2.94819561" />
<inertia ixx="0.01418919" ixy="6.936e-05" ixz="-0.0007734" iyy="0.01504315" iyz="1.297e-05" izz="0.0170189" />
</inertial>
</link>
<joint name="j_hip_y" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="hip_x_link" />
<child link="thigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-1.57" upper="0.174533" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="thigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/thigh.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.04235221 0.00017272 -0.21689828" rpy="0.0 0.0 0.0" />
<mass value="10.80882706" />
<inertia ixx="0.1632404" ixy="0.00026721" ixz="0.01548511" iyy="0.14491867" iyz="-0.00115905" izz="0.06656334" />
</inertial>
</link>
<joint name="j_knee_y" type="revolute">
<origin xyz="0.0 0.0 -0.4" rpy="0.0 0.0 0.0" />
<parent link="thigh" />
<child link="shin" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="0.0" upper="2.583" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="shin">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/shin.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0177422 0.00453439 -0.17886128" rpy="0.0 0.0 0.0" />
<mass value="11.06513851" />
<inertia ixx="0.22300589" ixy="0.00039863" ixz="0.00421073" iyy="0.20307232" iyz="0.00715001" izz="0.05977916" />
</inertial>
</link>
<joint name="j_ankle_y" type="revolute">
<origin xyz="0.0 0.0 -0.38" rpy="0.0 0.0 0.0" />
<parent link="shin" />
<child link="ankle_y_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-1.57" upper="0.174533" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="ankle_y_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/ankle.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.017472 0.001483 -0.000681" rpy="0.0 0.0 0.0" />
<mass value="2.742145" />
<inertia ixx="0.010787" ixy="-9e-05" ixz="0.000271" iyy="0.009295" iyz="9e-06" izz="0.014432" />
</inertial>
</link>
<joint name="j_ankle_x" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="ankle_y_link" />
<child link="base" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-0.523599" upper="0.523599" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="base">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/base.obj" />
</geometry>
</visual>
<collision>
<origin xyz="-0.284 0.0 0.019" rpy="0.0 0.0 0.0" />
<geometry>
<sphere radius="0.1524" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.005001 0.002979 -0.007684" rpy="0.0 0.0 0.0" />
<mass value="12.487535" />
<inertia ixx="0.330887" ixy="0.005202" ixz="-0.015354" iyy="0.233226" iyz="-3.7e-05" izz="0.532943" />
</inertial>
</link>
<joint name="j_l_wheel_y" type="continuous">
<origin xyz="0.142 0.26983 0.019" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="l_wheel" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 -1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/wheel.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.1524" />
</geometry>
</collision>
<inertial>
<origin xyz="1.45e-06 -0.00487572 -0.00014137" rpy="0.0 0.0 0.0" />
<mass value="2.17850874" />
<inertia ixx="0.0042794" ixy="-1.22e-06" ixz="-7.84e-06" iyy="0.0074513" iyz="-5.69e-06" izz="0.00423463" />
</inertial>
</link>
<joint name="j_r_wheel_y" type="continuous">
<origin xyz="0.142 -0.26983 0.019" rpy="0.0 0.0 0.0" />
<parent link="base" />
<child link="r_wheel" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_wheel">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/wheel.obj" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 0.0" />
<geometry>
<cylinder length="0.03" radius="0.1524" />
</geometry>
</collision>
<inertial>
<origin xyz="-1.45e-06 0.00487572 -0.00014137" rpy="0.0 0.0 0.0" />
<mass value="2.17850874" />
<inertia ixx="0.0042794" ixy="-1.22e-06" ixz="7.84e-06" iyy="0.0074513" iyz="5.69e-06" izz="0.00423463" />
</inertial>
</link>
<joint name="j_r_shoulder_y" type="revolute">
<origin xyz="0.01041 -0.20675 0.54735" rpy="-0.261799 0.0 0.261799" />
<parent link="pelvis" />
<child link="r_scapula" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-2.4240878" upper="0.981049573" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_scapula">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 0.0" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/scapula.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00037947 0.06518341 0.02816495" rpy="0.0 0.0 0.0" />
<mass value="3.00220101" />
<inertia ixx="0.01020711" ixy="2.03e-06" ixz="-3.444e-05" iyy="0.01151732" iyz="0.00114803" izz="0.01329451" />
</inertial>
</link>
<joint name="j_r_shoulder_x" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.261799 0.0 0.0" />
<parent link="r_scapula" />
<child link="r_shoulder" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-2.0943951" upper="0.0872665" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_shoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 0.0" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/shoulder.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="1.673e-05 -0.00019377 -0.01871047" rpy="0.0 0.0 0.0" />
<mass value="0.62091759" />
<inertia ixx="0.00097077" ixy="3.76e-06" ixz="1.39e-06" iyy="0.00133514" iyz="-5.96e-06" izz="0.00078248" />
</inertial>
</link>
<joint name="j_r_shoulder_z" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.261799" />
<parent link="r_shoulder" />
<child link="r_upper_arm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="1e+30" velocity="1e+30" lower="-0.5410525" upper="1.4660761" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_upper_arm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 3.14159" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/upper_arm.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00699737 0.00013778 -0.1740665" rpy="0.0 0.0 0.0" />
<mass value="3.32084455" />
<inertia ixx="0.01594152" ixy="8.55e-06" ixz="-0.00054922" iyy="0.01550579" iyz="3.617e-05" izz="0.00620232" />
</inertial>
</link>
<joint name="j_r_elbow_y" type="revolute">
<origin xyz="0.0 0.0 -0.3141" rpy="0.0 0.0 0.0" />
<parent link="r_upper_arm" />
<child link="r_elbow" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-2.18166" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_elbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/elbow.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="6.557e-05 1.91e-06 -0.00890628" rpy="0.0 0.0 0.0" />
<mass value="0.4622891" />
<inertia ixx="0.0008234" ixy="-2e-08" ixz="1.04e-06" iyy="0.00036507" iyz="-3e-08" izz="0.00061458" />
</inertial>
</link>
<joint name="j_r_elbow_z" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_elbow" />
<child link="r_lower_arm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="1e+30" velocity="1e+30" lower="-0.7854" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_lower_arm">
<visual>
<origin xyz="0.0 0.0 -0.29285" rpy="0.0 3.14159 0.0" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/forearm.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="4.924e-05 -7.579e-05 -0.14272507" rpy="0.0 0.0 0.0" />
<mass value="1.72645167" />
<inertia ixx="0.00752527" ixy="2.55e-06" ixz="-3.2e-06" iyy="0.00785805" iyz="-8.5e-07" izz="0.00189704" />
</inertial>
</link>
<joint name="j_r_wrist_y" type="revolute">
<origin xyz="0.0 0.0 -0.29285" rpy="0.0 0.0 0.0" />
<parent link="r_lower_arm" />
<child link="r_wrist" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-0.785398" upper="0.785398" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/wrist.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0001859 5.5e-05 -0.001294" rpy="0.0 0.0 0.0" />
<mass value="0.3582051" />
<inertia ixx="0.0002896" ixy="2.1e-06" ixz="-1.1e-06" iyy="0.0002335" iyz="-3e-07" izz="0.0003221" />
</inertial>
</link>
<joint name="j_r_wrist_x" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="r_wrist" />
<child link="r_palm" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-0.523599" upper="1.5708" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_palm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963 0.0 0.0" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/palm.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0038054 -0.002091 -0.03373019" rpy="0.0 0.0 0.0" />
<mass value="0.22529206" />
<inertia ixx="0.00024167" ixy="-5.6e-07" ixz="-3.083e-05" iyy="0.00040895" iyz="3.58e-06" izz="0.00027633" />
</inertial>
</link>
<joint name="qbhand_right_base_fixed_joint" type="fixed">
<origin xyz="0.0 0.0 -0.06" rpy="3.14 0.0 3.14" />
<parent link="r_palm" />
<child link="qbhand_right_base_link" />
</joint>
<link name="qbhand_right_base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/flange_iso_04.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/flange_iso_04.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0015" />
<mass value="0.15" />
<inertia ixx="6e-05" ixy="0.0" ixz="0.0" iyy="6e-05" iyz="0.0" izz="9e-05" />
</inertial>
</link>
<joint name="qbhand_right_palm_fixed_joint" type="fixed">
<origin xyz="-0.0045 0.0145 0.144" rpy="1.57 0.0 0.0" />
<parent link="qbhand_right_base_link" />
<child link="qbhand_right_palm_link" />
</joint>
<link name="qbhand_right_palm_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/palm_pinch_r.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/palm_pinch_r.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.02 0.05" />
<mass value="0.36" />
<inertia ixx="0.00045" ixy="0.0" ixz="0.0" iyy="0.0006" iyz="0.0" izz="0.00025" />
</inertial>
</link>
<joint name="qbhand_right_synergy_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_palm_link" />
<child link="qbhand_right_tendon_virtual_link" />
</joint>
<link name="qbhand_right_tendon_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_thumb_knuckle_joint" type="fixed">
<origin xyz="-0.0435 -0.0435 -0.002" rpy="-1.57 3.14 0.0" />
<parent link="qbhand_right_palm_link" />
<child link="qbhand_right_thumb_knuckle_link" />
</joint>
<link name="qbhand_right_thumb_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_thumb_r.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_thumb_r.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_thumb_proximal_joint" type="fixed">
<origin xyz="0.0255 -0.004 -0.0025" rpy="-1.15 0.0 0.0" />
<parent link="qbhand_right_thumb_knuckle_link" />
<child link="qbhand_right_thumb_proximal_virtual_link" />
</joint>
<link name="qbhand_right_thumb_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_thumb_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_thumb_proximal_virtual_link" />
<child link="qbhand_right_thumb_proximal_link" />
</joint>
<link name="qbhand_right_thumb_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_thumb_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_thumb_proximal_link" />
<child link="qbhand_right_thumb_distal_virtual_link" />
</joint>
<link name="qbhand_right_thumb_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_thumb_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_thumb_distal_virtual_link" />
<child link="qbhand_right_thumb_distal_link" />
</joint>
<link name="qbhand_right_thumb_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_index_knuckle_joint" type="fixed">
<origin xyz="-0.02 -0.007 0.014" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_palm_link" />
<child link="qbhand_right_index_knuckle_link" />
</joint>
<link name="qbhand_right_index_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_index_proximal_joint" type="fixed">
<origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
<parent link="qbhand_right_index_knuckle_link" />
<child link="qbhand_right_index_proximal_virtual_link" />
</joint>
<link name="qbhand_right_index_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_index_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_index_proximal_virtual_link" />
<child link="qbhand_right_index_proximal_link" />
</joint>
<link name="qbhand_right_index_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_index_middle_joint" type="fixed">
<origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_index_proximal_link" />
<child link="qbhand_right_index_middle_virtual_link" />
</joint>
<link name="qbhand_right_index_middle_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_index_middle_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_index_middle_virtual_link" />
<child link="qbhand_right_index_middle_link" />
</joint>
<link name="qbhand_right_index_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_index_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_index_middle_link" />
<child link="qbhand_right_index_distal_virtual_link" />
</joint>
<link name="qbhand_right_index_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_index_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_index_distal_virtual_link" />
<child link="qbhand_right_index_distal_link" />
</joint>
<link name="qbhand_right_index_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_middle_knuckle_joint" type="fixed">
<origin xyz="0.0 0.0 0.014" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_palm_link" />
<child link="qbhand_right_middle_knuckle_link" />
</joint>
<link name="qbhand_right_middle_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_middle_proximal_joint" type="fixed">
<origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
<parent link="qbhand_right_middle_knuckle_link" />
<child link="qbhand_right_middle_proximal_virtual_link" />
</joint>
<link name="qbhand_right_middle_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_middle_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_middle_proximal_virtual_link" />
<child link="qbhand_right_middle_proximal_link" />
</joint>
<link name="qbhand_right_middle_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_middle_middle_joint" type="fixed">
<origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_middle_proximal_link" />
<child link="qbhand_right_middle_middle_virtual_link" />
</joint>
<link name="qbhand_right_middle_middle_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_middle_middle_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_middle_middle_virtual_link" />
<child link="qbhand_right_middle_middle_link" />
</joint>
<link name="qbhand_right_middle_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_middle_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_middle_middle_link" />
<child link="qbhand_right_middle_distal_virtual_link" />
</joint>
<link name="qbhand_right_middle_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_middle_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_middle_distal_virtual_link" />
<child link="qbhand_right_middle_distal_link" />
</joint>
<link name="qbhand_right_middle_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_ring_knuckle_joint" type="fixed">
<origin xyz="0.02 -0.007 0.014" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_palm_link" />
<child link="qbhand_right_ring_knuckle_link" />
</joint>
<link name="qbhand_right_ring_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_ring_proximal_joint" type="fixed">
<origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
<parent link="qbhand_right_ring_knuckle_link" />
<child link="qbhand_right_ring_proximal_virtual_link" />
</joint>
<link name="qbhand_right_ring_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_ring_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_ring_proximal_virtual_link" />
<child link="qbhand_right_ring_proximal_link" />
</joint>
<link name="qbhand_right_ring_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_ring_middle_joint" type="fixed">
<origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_ring_proximal_link" />
<child link="qbhand_right_ring_middle_virtual_link" />
</joint>
<link name="qbhand_right_ring_middle_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_ring_middle_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_ring_middle_virtual_link" />
<child link="qbhand_right_ring_middle_link" />
</joint>
<link name="qbhand_right_ring_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_ring_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_ring_middle_link" />
<child link="qbhand_right_ring_distal_virtual_link" />
</joint>
<link name="qbhand_right_ring_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_ring_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_ring_distal_virtual_link" />
<child link="qbhand_right_ring_distal_link" />
</joint>
<link name="qbhand_right_ring_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_little_knuckle_joint" type="fixed">
<origin xyz="0.04 -0.012 0.014" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_palm_link" />
<child link="qbhand_right_little_knuckle_link" />
</joint>
<link name="qbhand_right_little_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_little_proximal_joint" type="fixed">
<origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
<parent link="qbhand_right_little_knuckle_link" />
<child link="qbhand_right_little_proximal_virtual_link" />
</joint>
<link name="qbhand_right_little_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_little_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_little_proximal_virtual_link" />
<child link="qbhand_right_little_proximal_link" />
</joint>
<link name="qbhand_right_little_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_little_middle_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_little_proximal_link" />
<child link="qbhand_right_little_middle_virtual_link" />
</joint>
<link name="qbhand_right_little_middle_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_little_middle_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_little_middle_virtual_link" />
<child link="qbhand_right_little_middle_link" />
</joint>
<link name="qbhand_right_little_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_right_little_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_little_middle_link" />
<child link="qbhand_right_little_distal_virtual_link" />
</joint>
<link name="qbhand_right_little_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_right_little_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_right_little_distal_virtual_link" />
<child link="qbhand_right_little_distal_link" />
</joint>
<link name="qbhand_right_little_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="j_l_shoulder_y" type="revolute">
<origin xyz="0.01041 0.20675 0.54735" rpy="0.261799 0.0 -0.261799" />
<parent link="pelvis" />
<child link="l_scapula" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-2.4240878" upper="0.981049573" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_scapula">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 3.14159" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/scapula.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.00051063 -0.06534731 0.02796782" rpy="0.0 0.0 0.0" />
<mass value="3.00902868" />
<inertia ixx="0.01028211" ixy="-4.893e-05" ixz="-7.063e-05" iyy="0.01156515" iyz="-0.00119105" izz="0.01333081" />
</inertial>
</link>
<joint name="j_l_shoulder_x" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="-0.261799 0.0 0.0" />
<parent link="l_scapula" />
<child link="l_shoulder" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-0.0872665" upper="2.0943951" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_shoulder">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0.0 0.0" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/shoulder.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-1.673e-05 0.00019377 -0.01871047" rpy="0.0 0.0 0.0" />
<mass value="0.62091759" />
<inertia ixx="0.00097077" ixy="3.76e-06" ixz="-1.39e-06" iyy="0.00133514" iyz="5.96e-06" izz="0.00078248" />
</inertial>
</link>
<joint name="j_l_shoulder_z" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.261799" />
<parent link="l_shoulder" />
<child link="l_upper_arm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="1e+30" velocity="1e+30" lower="-1.4660761" upper="0.5410525" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_upper_arm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 3.14159" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/upper_arm.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.00698778 0.00011145 -0.11499125" rpy="0.0 0.0 0.0" />
<mass value="3.32260186" />
<inertia ixx="0.01596325" ixy="8.08e-06" ixz="-0.00055061" iyy="0.01552407" iyz="4.445e-05" izz="0.00620843" />
</inertial>
</link>
<joint name="j_l_elbow_y" type="revolute">
<origin xyz="0.0 0.0 -0.3141" rpy="0.0 0.0 0.0" />
<parent link="l_upper_arm" />
<child link="l_elbow" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-2.18166" upper="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_elbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/elbow.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="6.509e-05 2.07e-06 -0.00890634" rpy="0.0 0.0 0.0" />
<mass value="0.46228452" />
<inertia ixx="0.0008234" ixy="-1e-08" ixz="1.04e-06" iyy="0.00036507" iyz="-3e-08" izz="0.00061458" />
</inertial>
</link>
<joint name="j_l_elbow_z" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_elbow" />
<child link="l_lower_arm" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="1e+30" velocity="1e+30" lower="-1.5708" upper="0.7854" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_lower_arm">
<visual>
<origin xyz="0.0 0.0 -0.29285" rpy="0.0 3.14159 0.0" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/forearm.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="5.231e-05 -6.031e-05 -0.14272377" rpy="0.0 0.0 0.0" />
<mass value="1.72646966" />
<inertia ixx="0.00752577" ixy="3.09e-06" ixz="-3.88e-06" iyy="0.0078581" iyz="-4.25e-06" izz="0.00189705" />
</inertial>
</link>
<joint name="j_l_wrist_y" type="revolute">
<origin xyz="0.0 0.0 -0.29285" rpy="0.0 0.0 0.0" />
<parent link="l_lower_arm" />
<child link="l_wrist" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-0.785398" upper="0.785398" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/wrist.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0001859 -5.5e-05 -0.001294" rpy="0.0 0.0 0.0" />
<mass value="0.3582051" />
<inertia ixx="0.0002896" ixy="2.1e-06" ixz="1.1e-06" iyy="0.0002335" iyz="3e-07" izz="0.0003221" />
</inertial>
</link>
<joint name="j_l_wrist_x" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="l_wrist" />
<child link="l_palm" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-1.5708" upper="0.523599" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_palm">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="-1.5707963 0.0 3.14159" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/palm.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="-0.0038054 0.002091 -0.03373019" rpy="0.0 0.0 0.0" />
<mass value="0.22529206" />
<inertia ixx="0.00024167" ixy="-5.6e-07" ixz="3.083e-05" iyy="0.00040895" iyz="-3.58e-06" izz="0.00027633" />
</inertial>
</link>
<joint name="qbhand_left_base_fixed_joint" type="fixed">
<origin xyz="0.0 0.0 -0.06" rpy="3.14 0.0 0.0" />
<parent link="l_palm" />
<child link="qbhand_left_base_link" />
</joint>
<link name="qbhand_left_base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/flange_iso_04.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/flange_iso_04.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0015" />
<mass value="0.15" />
<inertia ixx="6e-05" ixy="0.0" ixz="0.0" iyy="6e-05" iyz="0.0" izz="9e-05" />
</inertial>
</link>
<joint name="qbhand_left_palm_fixed_joint" type="fixed">
<origin xyz="0.0045 0.0145 0.144" rpy="1.57 0.0 3.14" />
<parent link="qbhand_left_base_link" />
<child link="qbhand_left_palm_link" />
</joint>
<link name="qbhand_left_palm_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/palm_pinch_l.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/palm_pinch_l.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.02 0.05" />
<mass value="0.36" />
<inertia ixx="0.00045" ixy="0.0" ixz="0.0" iyy="0.0006" iyz="0.0" izz="0.00025" />
</inertial>
</link>
<joint name="qbhand_left_synergy_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_palm_link" />
<child link="qbhand_left_tendon_virtual_link" />
</joint>
<link name="qbhand_left_tendon_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_thumb_knuckle_joint" type="fixed">
<origin xyz="-0.0435 -0.0435 -0.002" rpy="1.57 3.14 0.0" />
<parent link="qbhand_left_palm_link" />
<child link="qbhand_left_thumb_knuckle_link" />
</joint>
<link name="qbhand_left_thumb_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_thumb_l.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_thumb_l.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_thumb_proximal_joint" type="fixed">
<origin xyz="0.0255 -0.004 0.0025" rpy="1.15 0.0 0.0" />
<parent link="qbhand_left_thumb_knuckle_link" />
<child link="qbhand_left_thumb_proximal_virtual_link" />
</joint>
<link name="qbhand_left_thumb_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_thumb_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_thumb_proximal_virtual_link" />
<child link="qbhand_left_thumb_proximal_link" />
</joint>
<link name="qbhand_left_thumb_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_thumb_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_thumb_proximal_link" />
<child link="qbhand_left_thumb_distal_virtual_link" />
</joint>
<link name="qbhand_left_thumb_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_thumb_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_thumb_distal_virtual_link" />
<child link="qbhand_left_thumb_distal_link" />
</joint>
<link name="qbhand_left_thumb_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_index_knuckle_joint" type="fixed">
<origin xyz="-0.02 -0.007 -0.014" rpy="0.0 3.14 0.0" />
<parent link="qbhand_left_palm_link" />
<child link="qbhand_left_index_knuckle_link" />
</joint>
<link name="qbhand_left_index_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_index_proximal_joint" type="fixed">
<origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
<parent link="qbhand_left_index_knuckle_link" />
<child link="qbhand_left_index_proximal_virtual_link" />
</joint>
<link name="qbhand_left_index_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_index_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_index_proximal_virtual_link" />
<child link="qbhand_left_index_proximal_link" />
</joint>
<link name="qbhand_left_index_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_index_middle_joint" type="fixed">
<origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_index_proximal_link" />
<child link="qbhand_left_index_middle_virtual_link" />
</joint>
<link name="qbhand_left_index_middle_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_index_middle_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_index_middle_virtual_link" />
<child link="qbhand_left_index_middle_link" />
</joint>
<link name="qbhand_left_index_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_index_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_index_middle_link" />
<child link="qbhand_left_index_distal_virtual_link" />
</joint>
<link name="qbhand_left_index_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_index_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_index_distal_virtual_link" />
<child link="qbhand_left_index_distal_link" />
</joint>
<link name="qbhand_left_index_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_middle_knuckle_joint" type="fixed">
<origin xyz="0.0 0.0 -0.014" rpy="0.0 3.14 0.0" />
<parent link="qbhand_left_palm_link" />
<child link="qbhand_left_middle_knuckle_link" />
</joint>
<link name="qbhand_left_middle_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_middle_proximal_joint" type="fixed">
<origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
<parent link="qbhand_left_middle_knuckle_link" />
<child link="qbhand_left_middle_proximal_virtual_link" />
</joint>
<link name="qbhand_left_middle_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_middle_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_middle_proximal_virtual_link" />
<child link="qbhand_left_middle_proximal_link" />
</joint>
<link name="qbhand_left_middle_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_middle_middle_joint" type="fixed">
<origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_middle_proximal_link" />
<child link="qbhand_left_middle_middle_virtual_link" />
</joint>
<link name="qbhand_left_middle_middle_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_middle_middle_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_middle_middle_virtual_link" />
<child link="qbhand_left_middle_middle_link" />
</joint>
<link name="qbhand_left_middle_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_middle_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_middle_middle_link" />
<child link="qbhand_left_middle_distal_virtual_link" />
</joint>
<link name="qbhand_left_middle_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_middle_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_middle_distal_virtual_link" />
<child link="qbhand_left_middle_distal_link" />
</joint>
<link name="qbhand_left_middle_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_ring_knuckle_joint" type="fixed">
<origin xyz="0.02 -0.007 -0.014" rpy="0.0 3.14 0.0" />
<parent link="qbhand_left_palm_link" />
<child link="qbhand_left_ring_knuckle_link" />
</joint>
<link name="qbhand_left_ring_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_ring_proximal_joint" type="fixed">
<origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
<parent link="qbhand_left_ring_knuckle_link" />
<child link="qbhand_left_ring_proximal_virtual_link" />
</joint>
<link name="qbhand_left_ring_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_ring_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_ring_proximal_virtual_link" />
<child link="qbhand_left_ring_proximal_link" />
</joint>
<link name="qbhand_left_ring_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_ring_middle_joint" type="fixed">
<origin xyz="0.017 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_ring_proximal_link" />
<child link="qbhand_left_ring_middle_virtual_link" />
</joint>
<link name="qbhand_left_ring_middle_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_ring_middle_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_ring_middle_virtual_link" />
<child link="qbhand_left_ring_middle_link" />
</joint>
<link name="qbhand_left_ring_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_ring_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_ring_middle_link" />
<child link="qbhand_left_ring_distal_virtual_link" />
</joint>
<link name="qbhand_left_ring_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_ring_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_ring_distal_virtual_link" />
<child link="qbhand_left_ring_distal_link" />
</joint>
<link name="qbhand_left_ring_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_little_knuckle_joint" type="fixed">
<origin xyz="0.04 -0.012 -0.014" rpy="0.0 3.14 0.0" />
<parent link="qbhand_left_palm_link" />
<child link="qbhand_left_little_knuckle_link" />
</joint>
<link name="qbhand_left_little_knuckle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_little_proximal_joint" type="fixed">
<origin xyz="0.0 0.009 0.0" rpy="1.57 0.0 1.57" />
<parent link="qbhand_left_little_knuckle_link" />
<child link="qbhand_left_little_proximal_virtual_link" />
</joint>
<link name="qbhand_left_little_proximal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_little_proximal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_little_proximal_virtual_link" />
<child link="qbhand_left_little_proximal_link" />
</joint>
<link name="qbhand_left_little_proximal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_little_middle_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_little_proximal_link" />
<child link="qbhand_left_little_middle_virtual_link" />
</joint>
<link name="qbhand_left_little_middle_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_little_middle_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_little_middle_virtual_link" />
<child link="qbhand_left_little_middle_link" />
</joint>
<link name="qbhand_left_little_middle_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="qbhand_left_little_distal_joint" type="fixed">
<origin xyz="0.009 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_little_middle_link" />
<child link="qbhand_left_little_distal_virtual_link" />
</joint>
<link name="qbhand_left_little_distal_virtual_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-08" ixy="0.0" ixz="0.0" iyy="1e-08" iyz="0.0" izz="1e-08" />
</inertial>
</link>
<joint name="qbhand_left_little_distal_virtual_joint" type="fixed">
<origin xyz="0.013 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="qbhand_left_little_distal_virtual_link" />
<child link="qbhand_left_little_distal_link" />
</joint>
<link name="qbhand_left_little_distal_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="0.005" />
<inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
</inertial>
</link>
<joint name="j_neck_y" type="revolute">
<origin xyz="0.00646 0.00085 0.67201" rpy="0.0 0.0 0.0" />
<parent link="pelvis" />
<child link="head" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="1e+30" velocity="1e+30" lower="-0.335" upper="0.506" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="head">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="1.5707963 0.0 1.5707963" />
<geometry>
<mesh filename="package://eve_r3_description/meshes/head.obj" />
</geometry>
</visual>
<inertial>
<origin xyz="0.02485953 -0.00373226 0.11157957" rpy="0.0 0.0 0.0" />
<mass value="1.84975554" />
<inertia ixx="0.01343625" ixy="-0.00015664" ixz="-0.00146014" iyy="0.01517256" iyz="0.00017375" izz="0.00763704" />
</inertial>
</link>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 99a5bfb3628ff51b -->
<mujoco model="eve_r3">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="torso" file="eve_r3_description/meshes/torso.obj" />
<mesh name="abdomen" file="eve_r3_description/meshes/abdomen.obj" />
<mesh name="hip" file="eve_r3_description/meshes/hip.obj" />
<mesh name="thigh" file="eve_r3_description/meshes/thigh.obj" />
<mesh name="shin" file="eve_r3_description/meshes/shin.obj" />
<mesh name="ankle" file="eve_r3_description/meshes/ankle.obj" />
<mesh name="base" file="eve_r3_description/meshes/base.obj" />
<mesh name="wheel" file="eve_r3_description/meshes/wheel.obj" />
<mesh name="scapula" file="eve_r3_description/meshes/scapula.obj" />
<mesh name="shoulder" file="eve_r3_description/meshes/shoulder.obj" />
<mesh name="upper_arm" file="eve_r3_description/meshes/upper_arm.obj" />
<mesh name="elbow" file="eve_r3_description/meshes/elbow.obj" />
<mesh name="forearm" file="eve_r3_description/meshes/forearm.obj" />
<mesh name="wrist" file="eve_r3_description/meshes/wrist.obj" />
<mesh name="palm" file="eve_r3_description/meshes/palm.obj" />
<mesh name="flange_iso_04_0p001_0p001_0p001" file="qb_hand_description/meshes/flange_iso_04.obj" scale="0.001 0.001 0.001" />
<mesh name="palm_pinch_r_0p001_0p001_0p001" file="qb_hand_description/meshes/palm_pinch_r.obj" scale="0.001 0.001 0.001" />
<mesh name="ph_thumb_r_0p001_0p001_0p001" file="qb_hand_description/meshes/ph_thumb_r.obj" scale="0.001 0.001 0.001" />
<mesh name="ph_small_0p001_0p001_0p001" file="qb_hand_description/meshes/ph_small.obj" scale="0.001 0.001 0.001" />
<mesh name="ph_distal_0p001_0p001_0p001" file="qb_hand_description/meshes/ph_distal.obj" scale="0.001 0.001 0.001" />
<mesh name="ph_knuckle_0p001_0p001_0p001" file="qb_hand_description/meshes/ph_knuckle.obj" scale="0.001 0.001 0.001" />
<mesh name="ph_medium_0p001_0p001_0p001" file="qb_hand_description/meshes/ph_medium.obj" scale="0.001 0.001 0.001" />
<mesh name="palm_pinch_l_0p001_0p001_0p001" file="qb_hand_description/meshes/palm_pinch_l.obj" scale="0.001 0.001 0.001" />
<mesh name="ph_thumb_l_0p001_0p001_0p001" file="qb_hand_description/meshes/ph_thumb_l.obj" scale="0.001 0.001 0.001" />
<mesh name="head" file="eve_r3_description/meshes/head.obj" />
</asset>
<worldbody>
<body name="pelvis">
<inertial pos="-0.02071479 -0.00544353 0.4100644" mass="10.12075049" fullinertia="0.2085075 0.20882646 0.05515818 0.0008581 0.02176178 -0.00715583" />
<geom name="pelvis_vis_0" type="mesh" mesh="torso" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
<body name="abdomen">
<joint name="j_hip_z" type="hinge" axis="0.0 0.0 1.0" range="-1.0472 1.0472" />
<inertial pos="-0.055941 0.001616 0.129607" mass="3.429553" fullinertia="0.055816 0.054022 0.020076 0.000693 -0.014517 -0.001917" />
<geom name="abdomen_vis_0" type="mesh" mesh="abdomen" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
<body name="hip_x_link">
<joint name="j_hip_x" type="hinge" axis="1.0 0.0 0.0" range="-0.523599 0.523599" />
<inertial pos="-0.01325838 -0.00134592 -2.24e-06" mass="2.94819561" fullinertia="0.01418919 0.01504315 0.0170189 6.936e-05 -0.0007734 1.297e-05" />
<geom name="hip_x_link_vis_0" type="mesh" mesh="hip" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
<body name="thigh">
<joint name="j_hip_y" type="hinge" axis="0.0 1.0 0.0" range="-1.57 0.174533" />
<inertial pos="0.04235221 0.00017272 -0.21689828" mass="10.80882706" fullinertia="0.1632404 0.14491867 0.06656334 0.00026721 0.01548511 -0.00115905" />
<geom name="thigh_vis_0" type="mesh" mesh="thigh" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
<body name="shin" pos="0.0 0.0 -0.4">
<joint name="j_knee_y" type="hinge" axis="0.0 1.0 0.0" range="0.0 2.583" />
<inertial pos="0.0177422 0.00453439 -0.17886128" mass="11.06513851" fullinertia="0.22300589 0.20307232 0.05977916 0.00039863 0.00421073 0.00715001" />
<geom name="shin_vis_0" type="mesh" mesh="shin" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
<body name="ankle_y_link" pos="0.0 0.0 -0.38">
<joint name="j_ankle_y" type="hinge" axis="0.0 1.0 0.0" range="-1.57 0.174533" />
<inertial pos="-0.017472 0.001483 -0.000681" mass="2.742145" fullinertia="0.010787 0.009295 0.014432 -9e-05 0.000271 9e-06" />
<geom name="ankle_y_link_vis_0" type="mesh" mesh="ankle" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
<body name="base">
<joint name="j_ankle_x" type="hinge" axis="1.0 0.0 0.0" range="-0.523599 0.523599" />
<inertial pos="-0.005001 0.002979 -0.007684" mass="12.487535" fullinertia="0.330887 0.233226 0.532943 0.005202 -0.015354 -3.7e-05" />
<geom name="base_vis_0" type="mesh" mesh="base" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
<geom name="base_col_0" type="sphere" size="0.1524" pos="-0.284 0.0 0.019" group="3" />
<body name="l_wheel" pos="0.142 0.26983 0.019">
<joint name="j_l_wheel_y" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="1.45e-06 -0.00487572 -0.00014137" mass="2.17850874" fullinertia="0.0042794 0.0074513 0.00423463 -1.22e-06 -7.84e-06 -5.69e-06" />
<geom name="l_wheel_vis_0" type="mesh" mesh="wheel" quat="0.5000000133974483 0.49999999999999983 -0.4999999866025518 -0.49999999999999983" contype="0" conaffinity="0" group="2" />
<geom name="l_wheel_col_0" type="cylinder" size="0.1524 0.015" quat="0.707106790659974 0.707106771713121 0.0 0.0" group="3" />
</body>
<body name="r_wheel" pos="0.142 -0.26983 0.019">
<joint name="j_r_wheel_y" type="hinge" axis="0.0 1.0 0.0" limited="false" />
<inertial pos="-1.45e-06 0.00487572 -0.00014137" mass="2.17850874" fullinertia="0.0042794 0.0074513 0.00423463 -1.22e-06 7.84e-06 5.69e-06" />
<geom name="r_wheel_vis_0" type="mesh" mesh="wheel" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
<geom name="r_wheel_col_0" type="cylinder" size="0.1524 0.015" quat="0.707106790659974 0.707106771713121 0.0 0.0" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="r_scapula" pos="0.01041 -0.20675 0.54735" quat="0.9829629633294007 -0.12940933525864373 -0.017037036670599397 0.12940933525864373">
<joint name="j_r_shoulder_y" type="hinge" axis="0.0 1.0 0.0" range="-2.4240878 0.981049573" />
<inertial pos="0.00037947 0.06518341 0.02816495" mass="3.00220101" fullinertia="0.01020711 0.01151732 0.01329451 2.03e-06 -3.444e-05 0.00114803" />
<geom name="r_scapula_vis_0" type="mesh" mesh="scapula" quat="0.707106790659974 0.707106771713121 0.0 0.0" contype="0" conaffinity="0" group="2" />
<body name="r_shoulder" quat="0.991444886682765 0.13052599997931216 0.0 0.0">
<joint name="j_r_shoulder_x" type="hinge" axis="1.0 0.0 0.0" range="-2.0943951 0.0872665" />
<inertial pos="1.673e-05 -0.00019377 -0.01871047" mass="0.62091759" fullinertia="0.00097077 0.00133514 0.00078248 3.76e-06 1.39e-06 -5.96e-06" />
<geom name="r_shoulder_vis_0" type="mesh" mesh="shoulder" quat="1.3267948966775328e-06 0.9999999999991198 0.0 0.0" contype="0" conaffinity="0" group="2" />
<body name="r_upper_arm" quat="0.991444886682765 0.0 0.0 -0.13052599997931216">
<joint name="j_r_shoulder_z" type="hinge" axis="0.0 0.0 1.0" range="-0.5410525 1.4660761" />
<inertial pos="-0.00699737 0.00013778 -0.1740665" mass="3.32084455" fullinertia="0.01594152 0.01550579 0.00620232 8.55e-06 -0.00054922 3.617e-05" />
<geom name="r_upper_arm_vis_0" type="mesh" mesh="upper_arm" quat="9.381856812536819e-07 9.381856561150941e-07 0.7071067717124986 0.7071067906593516" contype="0" conaffinity="0" group="2" />
<body name="r_elbow" pos="0.0 0.0 -0.3141">
<joint name="j_r_elbow_y" type="hinge" axis="0.0 1.0 0.0" range="-2.18166 0.0" />
<inertial pos="6.557e-05 1.91e-06 -0.00890628" mass="0.4622891" fullinertia="0.0008234 0.00036507 0.00061458 -2e-08 1.04e-06 -3e-08" />
<geom name="r_elbow_vis_0" type="mesh" mesh="elbow" quat="9.381856812536819e-07 -0.7071067717124986 0.7071067906593516 9.381856561150941e-07" contype="0" conaffinity="0" group="2" />
<body name="r_lower_arm">
<joint name="j_r_elbow_z" type="hinge" axis="0.0 0.0 1.0" range="-0.7854 1.5708" />
<inertial pos="4.924e-05 -7.579e-05 -0.14272507" mass="1.72645167" fullinertia="0.00752527 0.00785805 0.00189704 2.55e-06 -3.2e-06 -8.5e-07" />
<geom name="r_lower_arm_vis_0" type="mesh" mesh="forearm" pos="0.0 0.0 -0.29285" quat="1.3267948966775328e-06 0.0 0.9999999999991198 0.0" contype="0" conaffinity="0" group="2" />
<body name="r_wrist" pos="0.0 0.0 -0.29285">
<joint name="j_r_wrist_y" type="hinge" axis="0.0 1.0 0.0" range="-0.785398 0.785398" />
<inertial pos="0.0001859 5.5e-05 -0.001294" mass="0.3582051" fullinertia="0.0002896 0.0002335 0.0003221 2.1e-06 -1.1e-06 -3e-07" />
<geom name="r_wrist_vis_0" type="mesh" mesh="wrist" quat="0.7071054825112363 0.0 0.0 0.7071080798594735" contype="0" conaffinity="0" group="2" />
<body name="r_palm">
<joint name="j_r_wrist_x" type="hinge" axis="1.0 0.0 0.0" range="-0.523599 1.5708" />
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<geom name="qbhand_right_base_link_vis_0" type="mesh" mesh="flange_iso_04_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
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<body name="qbhand_right_palm_link" pos="-0.0045 0.0145 0.144" quat="0.7073882691671998 0.706825181105366 0.0 0.0">
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<geom name="qbhand_right_palm_link_vis_0" type="mesh" mesh="palm_pinch_r_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
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<body name="qbhand_right_tendon_virtual_link">
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<body name="qbhand_right_thumb_knuckle_link" pos="-0.0435 -0.0435 -0.002" quat="0.0005633121735972125 -0.0005628637715330792 0.707388044876899 0.7068249569936026">
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<body name="qbhand_right_thumb_distal_link" pos="0.013 0.0 0.0">
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</body>
</body>
</body>
</body>
</body>
<body name="qbhand_right_index_knuckle_link" pos="-0.02 -0.007 0.014">
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<body name="qbhand_left_ring_knuckle_link" pos="0.02 -0.007 -0.014" quat="0.0007963267107332633 0.0 0.9999996829318346 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="qbhand_left_ring_knuckle_link_vis_0" type="mesh" mesh="ph_knuckle_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="qbhand_left_ring_knuckle_link_col_0" type="mesh" mesh="ph_knuckle_0p001_0p001_0p001" group="3" />
<body name="qbhand_left_ring_proximal_virtual_link" pos="0.0 0.009 0.0" quat="0.5003981633553667 0.49999984146591736 0.49960183664463337 0.49999984146591736">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<body name="qbhand_left_ring_proximal_link" pos="0.013 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="qbhand_left_ring_proximal_link_vis_0" type="mesh" mesh="ph_medium_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="qbhand_left_ring_proximal_link_col_0" type="mesh" mesh="ph_medium_0p001_0p001_0p001" group="3" />
<body name="qbhand_left_ring_middle_virtual_link" pos="0.017 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<body name="qbhand_left_ring_middle_link" pos="0.013 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="qbhand_left_ring_middle_link_vis_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="qbhand_left_ring_middle_link_col_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" group="3" />
<body name="qbhand_left_ring_distal_virtual_link" pos="0.009 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<body name="qbhand_left_ring_distal_link" pos="0.013 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="qbhand_left_ring_distal_link_vis_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="qbhand_left_ring_distal_link_col_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="qbhand_left_little_knuckle_link" pos="0.04 -0.012 -0.014" quat="0.0007963267107332633 0.0 0.9999996829318346 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="qbhand_left_little_knuckle_link_vis_0" type="mesh" mesh="ph_knuckle_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="qbhand_left_little_knuckle_link_col_0" type="mesh" mesh="ph_knuckle_0p001_0p001_0p001" group="3" />
<body name="qbhand_left_little_proximal_virtual_link" pos="0.0 0.009 0.0" quat="0.5003981633553667 0.49999984146591736 0.49960183664463337 0.49999984146591736">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<body name="qbhand_left_little_proximal_link" pos="0.013 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="qbhand_left_little_proximal_link_vis_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="qbhand_left_little_proximal_link_col_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" group="3" />
<body name="qbhand_left_little_middle_virtual_link" pos="0.009 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<body name="qbhand_left_little_middle_link" pos="0.013 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="qbhand_left_little_middle_link_vis_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="qbhand_left_little_middle_link_col_0" type="mesh" mesh="ph_small_0p001_0p001_0p001" group="3" />
<body name="qbhand_left_little_distal_virtual_link" pos="0.009 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-08 1e-08 1e-08 0.0 0.0 0.0" />
<body name="qbhand_left_little_distal_link" pos="0.013 0.0 0.0">
<inertial pos="0.0 0.0 0.0" mass="0.005" fullinertia="1e-06 1e-06 1e-06 0.0 0.0 0.0" />
<geom name="qbhand_left_little_distal_link_vis_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" contype="0" conaffinity="0" group="2" />
<geom name="qbhand_left_little_distal_link_col_0" type="mesh" mesh="ph_distal_0p001_0p001_0p001" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="head" pos="0.00646 0.00085 0.67201">
<joint name="j_neck_y" type="hinge" axis="0.0 1.0 0.0" range="-0.335 0.506" />
<inertial pos="0.02485953 -0.00373226 0.11157957" mass="1.84975554" fullinertia="0.01343625 0.01517256 0.00763704 -0.00015664 -0.00146014 0.00017375" />
<geom name="head_vis_0" type="mesh" mesh="head" quat="0.5000000133974483 0.49999999999999983 0.4999999866025518 0.49999999999999983" contype="0" conaffinity="0" group="2" />
</body>
</body>
</worldbody>
<contact>
<exclude body1="pelvis" body2="abdomen" />
<exclude body1="abdomen" body2="hip_x_link" />
<exclude body1="hip_x_link" body2="thigh" />
<exclude body1="thigh" body2="shin" />
<exclude body1="shin" body2="ankle_y_link" />
<exclude body1="ankle_y_link" body2="base" />
<exclude body1="base" body2="l_wheel" />
<exclude body1="base" body2="r_wheel" />
<exclude body1="pelvis" body2="r_scapula" />
<exclude body1="r_scapula" body2="r_shoulder" />
<exclude body1="r_shoulder" body2="r_upper_arm" />
<exclude body1="r_upper_arm" body2="r_elbow" />
<exclude body1="r_elbow" body2="r_lower_arm" />
<exclude body1="r_lower_arm" body2="r_wrist" />
<exclude body1="r_wrist" body2="r_palm" />
<exclude body1="r_palm" body2="qbhand_right_base_link" />
<exclude body1="qbhand_right_base_link" body2="qbhand_right_palm_link" />
<exclude body1="qbhand_right_palm_link" body2="qbhand_right_tendon_virtual_link" />
<exclude body1="qbhand_right_palm_link" body2="qbhand_right_thumb_knuckle_link" />
<exclude body1="qbhand_right_thumb_knuckle_link" body2="qbhand_right_thumb_proximal_virtual_link" />
<exclude body1="qbhand_right_thumb_proximal_virtual_link" body2="qbhand_right_thumb_proximal_link" />
<exclude body1="qbhand_right_thumb_proximal_link" body2="qbhand_right_thumb_distal_virtual_link" />
<exclude body1="qbhand_right_thumb_distal_virtual_link" body2="qbhand_right_thumb_distal_link" />
<exclude body1="qbhand_right_palm_link" body2="qbhand_right_index_knuckle_link" />
<exclude body1="qbhand_right_index_knuckle_link" body2="qbhand_right_index_proximal_virtual_link" />
<exclude body1="qbhand_right_index_proximal_virtual_link" body2="qbhand_right_index_proximal_link" />
<exclude body1="qbhand_right_index_proximal_link" body2="qbhand_right_index_middle_virtual_link" />
<exclude body1="qbhand_right_index_middle_virtual_link" body2="qbhand_right_index_middle_link" />
<exclude body1="qbhand_right_index_middle_link" body2="qbhand_right_index_distal_virtual_link" />
<exclude body1="qbhand_right_index_distal_virtual_link" body2="qbhand_right_index_distal_link" />
<exclude body1="qbhand_right_palm_link" body2="qbhand_right_middle_knuckle_link" />
<exclude body1="qbhand_right_middle_knuckle_link" body2="qbhand_right_middle_proximal_virtual_link" />
<exclude body1="qbhand_right_middle_proximal_virtual_link" body2="qbhand_right_middle_proximal_link" />
<exclude body1="qbhand_right_middle_proximal_link" body2="qbhand_right_middle_middle_virtual_link" />
<exclude body1="qbhand_right_middle_middle_virtual_link" body2="qbhand_right_middle_middle_link" />
<exclude body1="qbhand_right_middle_middle_link" body2="qbhand_right_middle_distal_virtual_link" />
<exclude body1="qbhand_right_middle_distal_virtual_link" body2="qbhand_right_middle_distal_link" />
<exclude body1="qbhand_right_palm_link" body2="qbhand_right_ring_knuckle_link" />
<exclude body1="qbhand_right_ring_knuckle_link" body2="qbhand_right_ring_proximal_virtual_link" />
<exclude body1="qbhand_right_ring_proximal_virtual_link" body2="qbhand_right_ring_proximal_link" />
<exclude body1="qbhand_right_ring_proximal_link" body2="qbhand_right_ring_middle_virtual_link" />
<exclude body1="qbhand_right_ring_middle_virtual_link" body2="qbhand_right_ring_middle_link" />
<exclude body1="qbhand_right_ring_middle_link" body2="qbhand_right_ring_distal_virtual_link" />
<exclude body1="qbhand_right_ring_distal_virtual_link" body2="qbhand_right_ring_distal_link" />
<exclude body1="qbhand_right_palm_link" body2="qbhand_right_little_knuckle_link" />
<exclude body1="qbhand_right_little_knuckle_link" body2="qbhand_right_little_proximal_virtual_link" />
<exclude body1="qbhand_right_little_proximal_virtual_link" body2="qbhand_right_little_proximal_link" />
<exclude body1="qbhand_right_little_proximal_link" body2="qbhand_right_little_middle_virtual_link" />
<exclude body1="qbhand_right_little_middle_virtual_link" body2="qbhand_right_little_middle_link" />
<exclude body1="qbhand_right_little_middle_link" body2="qbhand_right_little_distal_virtual_link" />
<exclude body1="qbhand_right_little_distal_virtual_link" body2="qbhand_right_little_distal_link" />
<exclude body1="pelvis" body2="l_scapula" />
<exclude body1="l_scapula" body2="l_shoulder" />
<exclude body1="l_shoulder" body2="l_upper_arm" />
<exclude body1="l_upper_arm" body2="l_elbow" />
<exclude body1="l_elbow" body2="l_lower_arm" />
<exclude body1="l_lower_arm" body2="l_wrist" />
<exclude body1="l_wrist" body2="l_palm" />
<exclude body1="l_palm" body2="qbhand_left_base_link" />
<exclude body1="qbhand_left_base_link" body2="qbhand_left_palm_link" />
<exclude body1="qbhand_left_palm_link" body2="qbhand_left_tendon_virtual_link" />
<exclude body1="qbhand_left_palm_link" body2="qbhand_left_thumb_knuckle_link" />
<exclude body1="qbhand_left_thumb_knuckle_link" body2="qbhand_left_thumb_proximal_virtual_link" />
<exclude body1="qbhand_left_thumb_proximal_virtual_link" body2="qbhand_left_thumb_proximal_link" />
<exclude body1="qbhand_left_thumb_proximal_link" body2="qbhand_left_thumb_distal_virtual_link" />
<exclude body1="qbhand_left_thumb_distal_virtual_link" body2="qbhand_left_thumb_distal_link" />
<exclude body1="qbhand_left_palm_link" body2="qbhand_left_index_knuckle_link" />
<exclude body1="qbhand_left_index_knuckle_link" body2="qbhand_left_index_proximal_virtual_link" />
<exclude body1="qbhand_left_index_proximal_virtual_link" body2="qbhand_left_index_proximal_link" />
<exclude body1="qbhand_left_index_proximal_link" body2="qbhand_left_index_middle_virtual_link" />
<exclude body1="qbhand_left_index_middle_virtual_link" body2="qbhand_left_index_middle_link" />
<exclude body1="qbhand_left_index_middle_link" body2="qbhand_left_index_distal_virtual_link" />
<exclude body1="qbhand_left_index_distal_virtual_link" body2="qbhand_left_index_distal_link" />
<exclude body1="qbhand_left_palm_link" body2="qbhand_left_middle_knuckle_link" />
<exclude body1="qbhand_left_middle_knuckle_link" body2="qbhand_left_middle_proximal_virtual_link" />
<exclude body1="qbhand_left_middle_proximal_virtual_link" body2="qbhand_left_middle_proximal_link" />
<exclude body1="qbhand_left_middle_proximal_link" body2="qbhand_left_middle_middle_virtual_link" />
<exclude body1="qbhand_left_middle_middle_virtual_link" body2="qbhand_left_middle_middle_link" />
<exclude body1="qbhand_left_middle_middle_link" body2="qbhand_left_middle_distal_virtual_link" />
<exclude body1="qbhand_left_middle_distal_virtual_link" body2="qbhand_left_middle_distal_link" />
<exclude body1="qbhand_left_palm_link" body2="qbhand_left_ring_knuckle_link" />
<exclude body1="qbhand_left_ring_knuckle_link" body2="qbhand_left_ring_proximal_virtual_link" />
<exclude body1="qbhand_left_ring_proximal_virtual_link" body2="qbhand_left_ring_proximal_link" />
<exclude body1="qbhand_left_ring_proximal_link" body2="qbhand_left_ring_middle_virtual_link" />
<exclude body1="qbhand_left_ring_middle_virtual_link" body2="qbhand_left_ring_middle_link" />
<exclude body1="qbhand_left_ring_middle_link" body2="qbhand_left_ring_distal_virtual_link" />
<exclude body1="qbhand_left_ring_distal_virtual_link" body2="qbhand_left_ring_distal_link" />
<exclude body1="qbhand_left_palm_link" body2="qbhand_left_little_knuckle_link" />
<exclude body1="qbhand_left_little_knuckle_link" body2="qbhand_left_little_proximal_virtual_link" />
<exclude body1="qbhand_left_little_proximal_virtual_link" body2="qbhand_left_little_proximal_link" />
<exclude body1="qbhand_left_little_proximal_link" body2="qbhand_left_little_middle_virtual_link" />
<exclude body1="qbhand_left_little_middle_virtual_link" body2="qbhand_left_little_middle_link" />
<exclude body1="qbhand_left_little_middle_link" body2="qbhand_left_little_distal_virtual_link" />
<exclude body1="qbhand_left_little_distal_virtual_link" body2="qbhand_left_little_distal_link" />
<exclude body1="pelvis" body2="head" />
</contact>
</mujoco>
Import report
Counts
| Links | 96 |
|---|---|
| Joints | 95 |
| Moving joints | 23 |
| Visuals | 66 |
| Collisions | 45 |
| Materials | 0 |
Meshes
Formats: obj.
Asset size: 5.9 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
@lower | 2 | continuous joints have no position limits; URDF ignores it too |
@upper | 2 | continuous joints have no position limits; URDF ignores it too |
axis | 68 | fixed joints carry no <axis>; URDF ignores it too |
dynamics | 68 | fixed joints carry no <dynamics>; URDF ignores it too |
gazebo | 4 | Gazebo simulator extensions are not part of the description |
limit | 68 | fixed joints carry no <limit>; URDF ignores it too |
mimic | 66 | joint coupling (mimic) is not representable yet; the joint imports as independent |
Forward-kinematics check
Forward kinematics of 96 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 · 8.2e-16 rad.
MuJoCo
robot.xml compiles in MuJoCo with its meshes (nq = 23).
Source & licence
| Repository | https://github.com/robot-descriptions/halodi-robot-models |
|---|---|
| Commit | 5d1d5eb3c15c9979f94b9611142158b9d80127ba |
| Original file | eve_r3_description/urdf/eve_r3-6b2411d07500af8a-v2.urdf |
| Licence | Apache-2.0 · 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.