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roboverse_data

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Robotics
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weison4ever commited on
Commit
599da71
·
1 Parent(s): e617818

[add] unitree dex3-1

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Signed-off-by: weisonweileen <[email protected]>

Files changed (19) hide show
  1. robots/unitree_hand/meshes/left_hand_index_0_link.STL +3 -0
  2. robots/unitree_hand/meshes/left_hand_index_1_link.STL +3 -0
  3. robots/unitree_hand/meshes/left_hand_middle_0_link.STL +3 -0
  4. robots/unitree_hand/meshes/left_hand_middle_1_link.STL +3 -0
  5. robots/unitree_hand/meshes/left_hand_palm_link.STL +3 -0
  6. robots/unitree_hand/meshes/left_hand_thumb_0_link.STL +3 -0
  7. robots/unitree_hand/meshes/left_hand_thumb_1_link.STL +3 -0
  8. robots/unitree_hand/meshes/left_hand_thumb_2_link.STL +3 -0
  9. robots/unitree_hand/meshes/right_hand_index_0_link.STL +3 -0
  10. robots/unitree_hand/meshes/right_hand_index_1_link.STL +3 -0
  11. robots/unitree_hand/meshes/right_hand_middle_0_link.STL +3 -0
  12. robots/unitree_hand/meshes/right_hand_middle_1_link.STL +3 -0
  13. robots/unitree_hand/meshes/right_hand_palm_link.STL +3 -0
  14. robots/unitree_hand/meshes/right_hand_thumb_0_link.STL +3 -0
  15. robots/unitree_hand/meshes/right_hand_thumb_1_link.STL +3 -0
  16. robots/unitree_hand/meshes/right_hand_thumb_2_link.STL +3 -0
  17. robots/unitree_hand/unitree_dex3.yml +59 -0
  18. robots/unitree_hand/unitree_dex3_left.urdf +443 -0
  19. robots/unitree_hand/unitree_dex3_right.urdf +443 -0
robots/unitree_hand/meshes/left_hand_index_0_link.STL ADDED
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+ size 475984
robots/unitree_hand/meshes/left_hand_index_1_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ size 1521784
robots/unitree_hand/meshes/left_hand_middle_0_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:6b35f2f77211d5a366f0b9a4e47c4ee35e536731266f1a34e9efa12db579b892
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+ size 475984
robots/unitree_hand/meshes/left_hand_middle_1_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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robots/unitree_hand/meshes/left_hand_palm_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:23a486b75bd78a9bf03cec25d84d87f97f3dae038cf21a743b6d469b337e4004
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+ size 2140184
robots/unitree_hand/meshes/left_hand_thumb_0_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:a90c721661c0622685488a3c74d1e122c7da89242d3a1daef75edb83422d05e0
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+ size 8884
robots/unitree_hand/meshes/left_hand_thumb_1_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:445c54a45bc13ce36001556f66bc0f49c83cb40321205ae4d676bb2874325684
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+ size 475984
robots/unitree_hand/meshes/left_hand_thumb_2_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:3d8dbe5085acfc213d21aa8b0782e89cd79084e9678f3a85fc7b04a86b029db5
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+ size 1521784
robots/unitree_hand/meshes/right_hand_index_0_link.STL ADDED
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+ size 475984
robots/unitree_hand/meshes/right_hand_index_1_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:c9c34efce4563cacdcfd29fc838a982976d40f5442c71219811dcbbf3923a33d
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+ size 1521784
robots/unitree_hand/meshes/right_hand_middle_0_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:12ab4300c95e437e834f9aef772b3b431c671bf34338930b52ad11aef73bbd0d
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+ size 475984
robots/unitree_hand/meshes/right_hand_middle_1_link.STL ADDED
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robots/unitree_hand/meshes/right_hand_palm_link.STL ADDED
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robots/unitree_hand/meshes/right_hand_thumb_0_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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robots/unitree_hand/meshes/right_hand_thumb_1_link.STL ADDED
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:0a9a820da8dd10f298778b714f1364216e8a5976f4fd3a05689ea26327d44bf6
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robots/unitree_hand/meshes/right_hand_thumb_2_link.STL ADDED
@@ -0,0 +1,3 @@
 
 
 
 
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+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:3f1bfb37668e8f61801c8d25f171fa1949e08666be86c67acad7e0079937cc45
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robots/unitree_hand/unitree_dex3.yml ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ left:
2
+ type: vector
3
+ urdf_path: unitree_hand/unitree_dex3_left.urdf
4
+
5
+ # Target refers to the retargeting target, which is the robot hand
6
+ # target_joint_names:
7
+ target_joint_names:
8
+ [
9
+ "left_hand_thumb_0_joint",
10
+ "left_hand_thumb_1_joint",
11
+ "left_hand_thumb_2_joint",
12
+ "left_hand_middle_0_joint",
13
+ "left_hand_middle_1_joint",
14
+ "left_hand_index_0_joint",
15
+ "left_hand_index_1_joint",
16
+ ]
17
+ wrist_link_name: None
18
+ target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
19
+ target_task_link_names: ["thumb_tip","index_tip","middle_tip"]
20
+ target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
21
+
22
+ # Currently, the scaling factor for each finger is individually distinguished in the robot_hand_unitree.py file.
23
+ # The Unitree Dex3 has three fingers with the same specifications, so the retarget scaling factors need to be adjusted separately.
24
+ # The relevant code is as follows:
25
+ # ref_left_value[0] = ref_left_value[0] * 1.15
26
+ # ref_left_value[1] = ref_left_value[1] * 1.05
27
+ # ref_left_value[2] = ref_left_value[2] * 0.95
28
+ # ref_right_value[0] = ref_right_value[0] * 1.15
29
+ # ref_right_value[1] = ref_right_value[1] * 1.05
30
+ # ref_right_value[2] = ref_right_value[2] * 0.95
31
+ scaling_factor: 1.0
32
+
33
+ # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
34
+ low_pass_alpha: 0.2
35
+
36
+ right:
37
+ type: vector
38
+ urdf_path: unitree_hand/unitree_dex3_right.urdf
39
+
40
+ # Target refers to the retargeting target, which is the robot hand
41
+ target_joint_names:
42
+ [
43
+ "right_hand_thumb_0_joint",
44
+ "right_hand_thumb_1_joint",
45
+ "right_hand_thumb_2_joint",
46
+ "right_hand_index_0_joint",
47
+ "right_hand_index_1_joint",
48
+ "right_hand_middle_0_joint",
49
+ "right_hand_middle_1_joint",
50
+ ]
51
+ wrist_link_name: None
52
+ target_origin_link_names: ["base_link_thumb","base_link_index","base_link_middle"]
53
+ target_task_link_names: ["thumb_tip", "index_tip", "middle_tip"]
54
+ target_link_human_indices: [[0, 0, 0], [4, 9, 14]]
55
+
56
+ scaling_factor: 1.0
57
+
58
+ # A smaller alpha means stronger filtering, i.e. more smooth but also larger latency
59
+ low_pass_alpha: 0.2
robots/unitree_hand/unitree_dex3_left.urdf ADDED
@@ -0,0 +1,443 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <robot name="dex3_left">
2
+ <mujoco>
3
+ <compiler meshdir="meshes" discardvisual="false" />
4
+ </mujoco>
5
+
6
+ <!-- [CAUTION] uncomment when convert to mujoco -->
7
+ <!-- <link name="world"></link>
8
+ <joint name="floating_base_joint" type="floating">
9
+ <parent link="world"/>
10
+ <child link="pelvis"/>
11
+ </joint> -->
12
+
13
+ <link name="left_hand_palm_link">
14
+ <inertial>
15
+ <origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0"/>
16
+ <mass value="0.37283854"/>
17
+ <inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
18
+ </inertial>
19
+ <visual>
20
+ <origin xyz="0 0 0" rpy="0 0 0"/>
21
+ <geometry>
22
+ <mesh filename="meshes/left_hand_palm_link.STL"/>
23
+ </geometry>
24
+ <material name="white">
25
+ <color rgba="0.7 0.7 0.7 1"/>
26
+ </material>
27
+ </visual>
28
+ <collision>
29
+ <origin xyz="0 0 0" rpy="0 0 0"/>
30
+ <geometry>
31
+ <mesh filename="meshes/left_hand_palm_link.STL"/>
32
+ </geometry>
33
+ </collision>
34
+ </link>
35
+ <joint name="left_hand_thumb_0_joint" type="revolute">
36
+ <origin xyz="0.0255 0 0" rpy="0 0 0"/>
37
+ <axis xyz="0 1 0"/>
38
+ <parent link="left_hand_palm_link"/>
39
+ <child link="left_hand_thumb_0_link"/>
40
+ <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
41
+ </joint>
42
+ <link name="left_hand_thumb_0_link">
43
+ <inertial>
44
+ <origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
45
+ <mass value="0.08623657"/>
46
+ <inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
47
+ </inertial>
48
+ <visual>
49
+ <origin xyz="0 0 0" rpy="0 0 0"/>
50
+ <geometry>
51
+ <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
52
+ </geometry>
53
+ <material name="white">
54
+ <color rgba="0.7 0.7 0.7 1"/>
55
+ </material>
56
+ </visual>
57
+ <collision>
58
+ <origin xyz="0 0 0" rpy="0 0 0"/>
59
+ <geometry>
60
+ <mesh filename="meshes/left_hand_thumb_0_link.STL"/>
61
+ </geometry>
62
+ </collision>
63
+ </link>
64
+ <joint name="left_hand_thumb_1_joint" type="revolute">
65
+ <origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
66
+ <axis xyz="0 0 1"/>
67
+ <parent link="left_hand_thumb_0_link"/>
68
+ <child link="left_hand_thumb_1_link"/>
69
+ <limit effort="1.4" velocity="12" lower="-0.72431163" upper="0.920"/>
70
+ </joint>
71
+ <link name="left_hand_thumb_1_link">
72
+ <inertial>
73
+ <origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
74
+ <mass value="0.05885070"/>
75
+ <inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
76
+ </inertial>
77
+ <visual>
78
+ <origin xyz="0 0 0" rpy="0 0 0"/>
79
+ <geometry>
80
+ <mesh filename="meshes/left_hand_thumb_1_link.STL"/>
81
+ </geometry>
82
+ <material name="white">
83
+ <color rgba="0.7 0.7 0.7 1"/>
84
+ </material>
85
+ </visual>
86
+ <collision>
87
+ <origin xyz="-0.001 -0.032 0" rpy="0 0 0"/>
88
+ <geometry>
89
+ <box size="0.02 0.03 0.02"/>
90
+ </geometry>
91
+ </collision>
92
+ </link>
93
+ <joint name="left_hand_thumb_2_joint" type="revolute">
94
+ <origin xyz="0 -0.0458 0" rpy="0 0 0"/>
95
+ <axis xyz="0 0 1"/>
96
+ <parent link="left_hand_thumb_1_link"/>
97
+ <child link="left_hand_thumb_2_link"/>
98
+ <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
99
+ </joint>
100
+ <link name="left_hand_thumb_2_link">
101
+ <inertial>
102
+ <origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
103
+ <mass value="0.02030626"/>
104
+ <inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
105
+ </inertial>
106
+ <visual>
107
+ <origin xyz="0 0 0" rpy="0 0 0"/>
108
+ <geometry>
109
+ <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
110
+ </geometry>
111
+ <material name="white">
112
+ <color rgba="0.7 0.7 0.7 1"/>
113
+ </material>
114
+ </visual>
115
+ <collision>
116
+ <origin xyz="0 0 0" rpy="0 0 0"/>
117
+ <geometry>
118
+ <mesh filename="meshes/left_hand_thumb_2_link.STL"/>
119
+ </geometry>
120
+ </collision>
121
+ </link>
122
+ <joint name="left_hand_middle_0_joint" type="revolute">
123
+ <origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
124
+ <axis xyz="0 0 1"/>
125
+ <parent link="left_hand_palm_link"/>
126
+ <child link="left_hand_middle_0_link"/>
127
+ <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
128
+ </joint>
129
+ <link name="left_hand_middle_0_link">
130
+ <inertial>
131
+ <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
132
+ <mass value="0.05885070"/>
133
+ <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
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+ </inertial>
135
+ <visual>
136
+ <origin xyz="0 0 0" rpy="0 0 0"/>
137
+ <geometry>
138
+ <mesh filename="meshes/left_hand_middle_0_link.STL"/>
139
+ </geometry>
140
+ <material name="white">
141
+ <color rgba="0.7 0.7 0.7 1"/>
142
+ </material>
143
+ </visual>
144
+ <collision>
145
+ <origin xyz="0 0 0" rpy="0 0 0"/>
146
+ <geometry>
147
+ <mesh filename="meshes/left_hand_middle_0_link.STL"/>
148
+ </geometry>
149
+ </collision>
150
+ </link>
151
+ <joint name="left_hand_middle_1_joint" type="revolute">
152
+ <origin xyz="0.0458 0 0" rpy="0 0 0"/>
153
+ <axis xyz="0 0 1"/>
154
+ <parent link="left_hand_middle_0_link"/>
155
+ <child link="left_hand_middle_1_link"/>
156
+ <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
157
+ </joint>
158
+ <link name="left_hand_middle_1_link">
159
+ <inertial>
160
+ <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
161
+ <mass value="0.02030626"/>
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+ <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
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+ </inertial>
164
+ <visual>
165
+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ <geometry>
167
+ <mesh filename="meshes/left_hand_middle_1_link.STL"/>
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+ </geometry>
169
+ <material name="white">
170
+ <color rgba="0.7 0.7 0.7 1"/>
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+ </material>
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+ </visual>
173
+ <collision>
174
+ <origin xyz="0 0 0" rpy="0 0 0"/>
175
+ <geometry>
176
+ <mesh filename="meshes/left_hand_middle_1_link.STL"/>
177
+ </geometry>
178
+ </collision>
179
+ </link>
180
+ <joint name="left_hand_index_0_joint" type="revolute">
181
+ <origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
182
+ <axis xyz="0 0 1"/>
183
+ <parent link="left_hand_palm_link"/>
184
+ <child link="left_hand_index_0_link"/>
185
+ <limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
186
+ </joint>
187
+ <link name="left_hand_index_0_link">
188
+ <inertial>
189
+ <origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
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+ <mass value="0.05885070"/>
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+ <inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
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+ </inertial>
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+ <visual>
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+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ <geometry>
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+ <mesh filename="meshes/left_hand_index_0_link.STL"/>
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+ </geometry>
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+ <material name="white">
199
+ <color rgba="0.7 0.7 0.7 1"/>
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+ </material>
201
+ </visual>
202
+ <collision>
203
+ <origin xyz="0 0 0" rpy="0 0 0"/>
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+ <geometry>
205
+ <mesh filename="meshes/left_hand_index_0_link.STL"/>
206
+ </geometry>
207
+ </collision>
208
+ </link>
209
+ <joint name="left_hand_index_1_joint" type="revolute">
210
+ <origin xyz="0.0458 0 0" rpy="0 0 0"/>
211
+ <axis xyz="0 0 1"/>
212
+ <parent link="left_hand_index_0_link"/>
213
+ <child link="left_hand_index_1_link"/>
214
+ <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
215
+ </joint>
216
+ <link name="left_hand_index_1_link">
217
+ <inertial>
218
+ <origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
219
+ <mass value="0.02030626"/>
220
+ <inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
221
+ </inertial>
222
+ <visual>
223
+ <origin xyz="0 0 0" rpy="0 0 0"/>
224
+ <geometry>
225
+ <mesh filename="meshes/left_hand_index_1_link.STL"/>
226
+ </geometry>
227
+ <material name="white">
228
+ <color rgba="0.7 0.7 0.7 1"/>
229
+ </material>
230
+ </visual>
231
+ <collision>
232
+ <origin xyz="0 0 0" rpy="0 0 0"/>
233
+ <geometry>
234
+ <mesh filename="meshes/left_hand_index_1_link.STL"/>
235
+ </geometry>
236
+ </collision>
237
+ </link>
238
+
239
+ <!-- virtual auxiliary link -->
240
+
241
+ <!-- for openxr / apple vision pro, good retarget with thumb and index. ==> teleop_hand_and_arm.py -->
242
+ <joint name="base_thumb" type="fixed">
243
+ <parent link="base_link" />
244
+ <child link="base_link_thumb" />
245
+ <origin rpy="0 0 0" xyz="-0.015 0.015 0.02" />
246
+ </joint>
247
+ <joint name="base_index" type="fixed">
248
+ <parent link="base_link" />
249
+ <child link="base_link_index" />
250
+ <origin rpy="0 0 0" xyz="-0.015 0 0" />
251
+ </joint>
252
+ <joint name="base_middle" type="fixed">
253
+ <parent link="base_link" />
254
+ <child link="base_link_middle" />
255
+ <origin rpy="0 0 0" xyz="-0.015 0 -0.03" />
256
+ </joint>
257
+ <joint name="base" type="fixed">
258
+ <parent link="base_link" />
259
+ <child link="left_hand_palm_link" />
260
+ <origin rpy="0 0 -1.57" xyz="0 0 0" />
261
+ </joint>
262
+
263
+ <joint name="thumb_tip_joint" type="fixed">
264
+ <parent link="left_hand_thumb_2_link" />
265
+ <child link="thumb_tip" />
266
+ <origin rpy="0 0 0" xyz="0 -0.05 0" />
267
+ </joint>
268
+
269
+ <joint name="middle_joint" type="fixed">
270
+ <parent link="left_hand_middle_1_link" />
271
+ <child link="middle_tip" />
272
+ <origin rpy="0 0 0" xyz="0.05 0 0" />
273
+ </joint>
274
+
275
+ <joint name="index_joint" type="fixed">
276
+ <parent link="left_hand_index_1_link" />
277
+ <child link="index_tip" />
278
+ <origin rpy="0 0 0" xyz="0.05 0 0" />
279
+ </joint>
280
+
281
+ <link name="base_link_thumb">
282
+ <visual>
283
+ <origin xyz="0 0 0" rpy="0 0 0" />
284
+ <geometry>
285
+ <sphere radius="0.005" />
286
+ </geometry>
287
+ <material name="red">
288
+ <color rgba="1 0 0 1" />
289
+ </material>
290
+ </visual>
291
+ </link>
292
+ <link name="base_link_index">
293
+ <visual>
294
+ <origin xyz="0 0 0" rpy="0 0 0" />
295
+ <geometry>
296
+ <sphere radius="0.005" />
297
+ </geometry>
298
+ <material name="green">
299
+ <color rgba="0 1 0 1" />
300
+ </material>
301
+ </visual>
302
+ </link>
303
+ <link name="base_link_middle">
304
+ <visual>
305
+ <origin xyz="0 0 0" rpy="0 0 0" />
306
+ <geometry>
307
+ <sphere radius="0.005" />
308
+ </geometry>
309
+ <material name="blue">
310
+ <color rgba="0 0 1 1" />
311
+ </material>
312
+ </visual>
313
+ </link>
314
+ <link name="base_link">
315
+ <visual>
316
+ <origin xyz="0 0 0" rpy="0 0 0" />
317
+ <geometry>
318
+ <sphere radius="0.01" />
319
+ </geometry>
320
+ <material name="purple">
321
+ <color rgba="1 0 1 1" />
322
+ </material>
323
+ </visual>
324
+ </link>
325
+
326
+ <link name="thumb_tip">
327
+ <visual>
328
+ <origin
329
+ xyz="0 0 0"
330
+ rpy="0 0 0" />
331
+ <geometry>
332
+ <sphere radius="0.005"/>
333
+ </geometry>
334
+ <material name="red">
335
+ <color rgba="1 0 0 1" />
336
+ </material>
337
+ </visual>
338
+ </link>
339
+
340
+ <link name="index_tip">
341
+ <visual>
342
+ <origin
343
+ xyz="0 0 0"
344
+ rpy="0 0 0" />
345
+ <geometry>
346
+ <sphere radius="0.005"/>
347
+ </geometry>
348
+ <material name="green">
349
+ <color rgba="0 1 0 1" />
350
+ </material>
351
+ </visual>
352
+ </link>
353
+
354
+ <link name="middle_tip">
355
+ <visual>
356
+ <origin
357
+ xyz="0 0 0"
358
+ rpy="0 0 0" />
359
+ <geometry>
360
+ <sphere radius="0.005"/>
361
+ </geometry>
362
+ <material name="blue">
363
+ <color rgba="0 0 1 1" />
364
+ </material>
365
+ </visual>
366
+ </link>
367
+
368
+ <!-- for mediapipe -->
369
+ <!-- <link name="base_link_thumb" />
370
+ <joint name="base_thumb" type="fixed">
371
+ <parent link="base_link_thumb" />
372
+ <child link="base_link" />
373
+ <origin rpy="0 0 0" xyz="-0.04 0.05 -0.06" />
374
+ </joint>
375
+
376
+ <link name="base_link" />
377
+ <joint name="base" type="fixed">
378
+ <parent link="base_link" />
379
+ <child link="left_hand_palm_link" />
380
+ <origin rpy="1.57 -1.57 0" xyz="0.02 -0.01 0" />
381
+ </joint>
382
+
383
+ <link name="thumb_tip">
384
+ <visual>
385
+ <origin
386
+ xyz="0 0 0"
387
+ rpy="0 0 0" />
388
+ <geometry>
389
+ <sphere radius="0.005"/>
390
+ </geometry>
391
+ <material name="red">
392
+ <color rgba="1 0 0 1" />
393
+ </material>
394
+ </visual>
395
+ </link>
396
+
397
+ <link name="index_tip">
398
+ <visual>
399
+ <origin
400
+ xyz="0 0 0"
401
+ rpy="0 0 0" />
402
+ <geometry>
403
+ <sphere radius="0.005"/>
404
+ </geometry>
405
+ <material name="green">
406
+ <color rgba="0 1 0 1" />
407
+ </material>
408
+ </visual>
409
+ </link>
410
+
411
+ <link name="middle_tip">
412
+ <visual>
413
+ <origin
414
+ xyz="0 0 0"
415
+ rpy="0 0 0" />
416
+ <geometry>
417
+ <sphere radius="0.005"/>
418
+ </geometry>
419
+ <material name="blue">
420
+ <color rgba="0 0 1 1" />
421
+ </material>
422
+ </visual>
423
+ </link>
424
+
425
+ <joint name="thumb_tip_joint" type="fixed">
426
+ <parent link="left_hand_thumb_2_link" />
427
+ <child link="thumb_tip" />
428
+ <origin rpy="0 0 0" xyz="0.003 -0.05 0" />
429
+ </joint>
430
+
431
+ <joint name="middle_joint" type="fixed">
432
+ <parent link="left_hand_middle_1_link" />
433
+ <child link="middle_tip" />
434
+ <origin rpy="0 0 0" xyz="0.05 -0.003 0" />
435
+ </joint>
436
+
437
+ <joint name="index_joint" type="fixed">
438
+ <parent link="left_hand_index_1_link" />
439
+ <child link="index_tip" />
440
+ <origin rpy="0 0 0" xyz="0.05 -0.003 0" />
441
+ </joint> -->
442
+
443
+ </robot>
robots/unitree_hand/unitree_dex3_right.urdf ADDED
@@ -0,0 +1,443 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <robot name="dex3_right">
2
+ <mujoco>
3
+ <compiler meshdir="meshes" discardvisual="false" />
4
+ </mujoco>
5
+
6
+ <!-- [CAUTION] uncomment when convert to mujoco -->
7
+ <!-- <link name="world"></link>
8
+ <joint name="floating_base_joint" type="floating">
9
+ <parent link="world"/>
10
+ <child link="pelvis"/>
11
+ </joint> -->
12
+
13
+ <link name="right_hand_palm_link">
14
+ <inertial>
15
+ <origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="-1.57 1.57 0"/>
16
+ <mass value="0.37283854"/>
17
+ <inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
18
+ </inertial>
19
+ <visual>
20
+ <origin xyz="0 0 0" rpy="0 0 0"/>
21
+ <geometry>
22
+ <mesh filename="meshes/right_hand_palm_link.STL"/>
23
+ </geometry>
24
+ <material name="white">
25
+ <color rgba="0.7 0.7 0.7 1"/>
26
+ </material>
27
+ </visual>
28
+ <collision>
29
+ <origin xyz="0 0 0" rpy="0 0 0"/>
30
+ <geometry>
31
+ <mesh filename="meshes/right_hand_palm_link.STL"/>
32
+ </geometry>
33
+ </collision>
34
+ </link>
35
+ <joint name="right_hand_thumb_0_joint" type="revolute">
36
+ <origin xyz="0.0255 0 0" rpy="0 0 0"/>
37
+ <axis xyz="0 1 0"/>
38
+ <parent link="right_hand_palm_link"/>
39
+ <child link="right_hand_thumb_0_link"/>
40
+ <limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
41
+ </joint>
42
+ <link name="right_hand_thumb_0_link">
43
+ <inertial>
44
+ <origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0"/>
45
+ <mass value="0.08623657"/>
46
+ <inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663"/>
47
+ </inertial>
48
+ <visual>
49
+ <origin xyz="0 0 0" rpy="0 0 0"/>
50
+ <geometry>
51
+ <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
52
+ </geometry>
53
+ <material name="white">
54
+ <color rgba="0.7 0.7 0.7 1"/>
55
+ </material>
56
+ </visual>
57
+ <collision>
58
+ <origin xyz="0 0 0" rpy="0 0 0"/>
59
+ <geometry>
60
+ <mesh filename="meshes/right_hand_thumb_0_link.STL"/>
61
+ </geometry>
62
+ </collision>
63
+ </link>
64
+ <joint name="right_hand_thumb_1_joint" type="revolute">
65
+ <origin xyz="-0.0025 0.0193 0" rpy="0 0 0"/>
66
+ <axis xyz="0 0 1"/>
67
+ <parent link="right_hand_thumb_0_link"/>
68
+ <child link="right_hand_thumb_1_link"/>
69
+ <limit effort="1.4" velocity="12" lower="-0.920" upper="0.72431163"/>
70
+ </joint>
71
+ <link name="right_hand_thumb_1_link">
72
+ <inertial>
73
+ <origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0"/>
74
+ <mass value="0.05885070"/>
75
+ <inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582"/>
76
+ </inertial>
77
+ <visual>
78
+ <origin xyz="0 0 0" rpy="0 0 0"/>
79
+ <geometry>
80
+ <mesh filename="meshes/right_hand_thumb_1_link.STL"/>
81
+ </geometry>
82
+ <material name="white">
83
+ <color rgba="0.7 0.7 0.7 1"/>
84
+ </material>
85
+ </visual>
86
+ <collision>
87
+ <origin xyz="-0.001 0.032 0" rpy="0 0 0"/>
88
+ <geometry>
89
+ <box size="0.02 0.03 0.02"/>
90
+ </geometry>
91
+ </collision>
92
+ </link>
93
+ <joint name="right_hand_thumb_2_joint" type="revolute">
94
+ <origin xyz="0 0.0458 0" rpy="0 0 0"/>
95
+ <axis xyz="0 0 1"/>
96
+ <parent link="right_hand_thumb_1_link"/>
97
+ <child link="right_hand_thumb_2_link"/>
98
+ <limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
99
+ </joint>
100
+ <link name="right_hand_thumb_2_link">
101
+ <inertial>
102
+ <origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0"/>
103
+ <mass value="0.02030626"/>
104
+ <inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776"/>
105
+ </inertial>
106
+ <visual>
107
+ <origin xyz="0 0 0" rpy="0 0 0"/>
108
+ <geometry>
109
+ <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
110
+ </geometry>
111
+ <material name="white">
112
+ <color rgba="0.7 0.7 0.7 1"/>
113
+ </material>
114
+ </visual>
115
+ <collision>
116
+ <origin xyz="0 0 0" rpy="0 0 0"/>
117
+ <geometry>
118
+ <mesh filename="meshes/right_hand_thumb_2_link.STL"/>
119
+ </geometry>
120
+ </collision>
121
+ </link>
122
+ <joint name="right_hand_middle_0_joint" type="revolute">
123
+ <origin xyz="0.0777 -0.0016 -0.0285" rpy="0 0 0"/>
124
+ <axis xyz="0 0 1"/>
125
+ <parent link="right_hand_palm_link"/>
126
+ <child link="right_hand_middle_0_link"/>
127
+ <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
128
+ </joint>
129
+ <link name="right_hand_middle_0_link">
130
+ <inertial>
131
+ <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
132
+ <mass value="0.05885070"/>
133
+ <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
134
+ </inertial>
135
+ <visual>
136
+ <origin xyz="0 0 0" rpy="0 0 0"/>
137
+ <geometry>
138
+ <mesh filename="meshes/right_hand_middle_0_link.STL"/>
139
+ </geometry>
140
+ <material name="white">
141
+ <color rgba="0.7 0.7 0.7 1"/>
142
+ </material>
143
+ </visual>
144
+ <collision>
145
+ <origin xyz="0 0 0" rpy="0 0 0"/>
146
+ <geometry>
147
+ <mesh filename="meshes/right_hand_middle_0_link.STL"/>
148
+ </geometry>
149
+ </collision>
150
+ </link>
151
+ <joint name="right_hand_middle_1_joint" type="revolute">
152
+ <origin xyz="0.0458 0 0" rpy="0 0 0"/>
153
+ <axis xyz="0 0 1"/>
154
+ <parent link="right_hand_middle_0_link"/>
155
+ <child link="right_hand_middle_1_link"/>
156
+ <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
157
+ </joint>
158
+ <link name="right_hand_middle_1_link">
159
+ <inertial>
160
+ <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
161
+ <mass value="0.02030626"/>
162
+ <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
163
+ </inertial>
164
+ <visual>
165
+ <origin xyz="0 0 0" rpy="0 0 0"/>
166
+ <geometry>
167
+ <mesh filename="meshes/right_hand_middle_1_link.STL"/>
168
+ </geometry>
169
+ <material name="white">
170
+ <color rgba="0.7 0.7 0.7 1"/>
171
+ </material>
172
+ </visual>
173
+ <collision>
174
+ <origin xyz="0 0 0" rpy="0 0 0"/>
175
+ <geometry>
176
+ <mesh filename="meshes/right_hand_middle_1_link.STL"/>
177
+ </geometry>
178
+ </collision>
179
+ </link>
180
+ <joint name="right_hand_index_0_joint" type="revolute">
181
+ <origin xyz="0.0777 -0.0016 0.0285" rpy="0 0 0"/>
182
+ <axis xyz="0 0 1"/>
183
+ <parent link="right_hand_palm_link"/>
184
+ <child link="right_hand_index_0_link"/>
185
+ <limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
186
+ </joint>
187
+ <link name="right_hand_index_0_link">
188
+ <inertial>
189
+ <origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
190
+ <mass value="0.05885070"/>
191
+ <inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
192
+ </inertial>
193
+ <visual>
194
+ <origin xyz="0 0 0" rpy="0 0 0"/>
195
+ <geometry>
196
+ <mesh filename="meshes/right_hand_index_0_link.STL"/>
197
+ </geometry>
198
+ <material name="white">
199
+ <color rgba="0.7 0.7 0.7 1"/>
200
+ </material>
201
+ </visual>
202
+ <collision>
203
+ <origin xyz="0 0 0" rpy="0 0 0"/>
204
+ <geometry>
205
+ <mesh filename="meshes/right_hand_index_0_link.STL"/>
206
+ </geometry>
207
+ </collision>
208
+ </link>
209
+ <joint name="right_hand_index_1_joint" type="revolute">
210
+ <origin xyz="0.0458 0 0" rpy="0 0 0"/>
211
+ <axis xyz="0 0 1"/>
212
+ <parent link="right_hand_index_0_link"/>
213
+ <child link="right_hand_index_1_link"/>
214
+ <limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
215
+ </joint>
216
+ <link name="right_hand_index_1_link">
217
+ <inertial>
218
+ <origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
219
+ <mass value="0.02030626"/>
220
+ <inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
221
+ </inertial>
222
+ <visual>
223
+ <origin xyz="0 0 0" rpy="0 0 0"/>
224
+ <geometry>
225
+ <mesh filename="meshes/right_hand_index_1_link.STL"/>
226
+ </geometry>
227
+ <material name="white">
228
+ <color rgba="0.7 0.7 0.7 1"/>
229
+ </material>
230
+ </visual>
231
+ <collision>
232
+ <origin xyz="0 0 0" rpy="0 0 0"/>
233
+ <geometry>
234
+ <mesh filename="meshes/right_hand_index_1_link.STL"/>
235
+ </geometry>
236
+ </collision>
237
+ </link>
238
+
239
+ <!-- virtual auxiliary link -->
240
+
241
+ <!-- for openxr / apple vision pro, good retarget with thumb and index. ==> teleop_hand_and_arm.py -->
242
+ <joint name="base_thumb" type="fixed">
243
+ <parent link="base_link" />
244
+ <child link="base_link_thumb" />
245
+ <origin rpy="0 0 0" xyz="-0.015 0.015 -0.02" />
246
+ </joint>
247
+ <joint name="base_index" type="fixed">
248
+ <parent link="base_link" />
249
+ <child link="base_link_index" />
250
+ <origin rpy="0 0 0" xyz="-0.015 0 0" />
251
+ </joint>
252
+ <joint name="base_middle" type="fixed">
253
+ <parent link="base_link" />
254
+ <child link="base_link_middle" />
255
+ <origin rpy="0 0 0" xyz="-0.015 0 0.03" />
256
+ </joint>
257
+ <joint name="base" type="fixed">
258
+ <parent link="base_link" />
259
+ <child link="right_hand_palm_link" />
260
+ <origin rpy="3.14 0 -1.57" xyz="0 0 0" />
261
+ </joint>
262
+
263
+ <joint name="thumb_tip_joint" type="fixed">
264
+ <parent link="right_hand_thumb_2_link" />
265
+ <child link="thumb_tip" />
266
+ <origin rpy="0 0 0" xyz="0 0.05 0" />
267
+ </joint>
268
+
269
+ <joint name="middle_joint" type="fixed">
270
+ <parent link="right_hand_middle_1_link" />
271
+ <child link="middle_tip" />
272
+ <origin rpy="0 0 0" xyz="0.05 0 0" />
273
+ </joint>
274
+
275
+ <joint name="index_joint" type="fixed">
276
+ <parent link="right_hand_index_1_link" />
277
+ <child link="index_tip" />
278
+ <origin rpy="0 0 0" xyz="0.05 0 0" />
279
+ </joint>
280
+
281
+ <link name="base_link_thumb">
282
+ <visual>
283
+ <origin xyz="0 0 0" rpy="0 0 0" />
284
+ <geometry>
285
+ <sphere radius="0.005" />
286
+ </geometry>
287
+ <material name="red">
288
+ <color rgba="1 0 0 1" />
289
+ </material>
290
+ </visual>
291
+ </link>
292
+ <link name="base_link_index">
293
+ <visual>
294
+ <origin xyz="0 0 0" rpy="0 0 0" />
295
+ <geometry>
296
+ <sphere radius="0.005" />
297
+ </geometry>
298
+ <material name="green">
299
+ <color rgba="0 1 0 1" />
300
+ </material>
301
+ </visual>
302
+ </link>
303
+ <link name="base_link_middle">
304
+ <visual>
305
+ <origin xyz="0 0 0" rpy="0 0 0" />
306
+ <geometry>
307
+ <sphere radius="0.005" />
308
+ </geometry>
309
+ <material name="blue">
310
+ <color rgba="0 0 1 1" />
311
+ </material>
312
+ </visual>
313
+ </link>
314
+ <link name="base_link">
315
+ <visual>
316
+ <origin xyz="0 0 0" rpy="0 0 0" />
317
+ <geometry>
318
+ <sphere radius="0.01" />
319
+ </geometry>
320
+ <material name="purple">
321
+ <color rgba="1 0 1 1" />
322
+ </material>
323
+ </visual>
324
+ </link>
325
+
326
+ <link name="thumb_tip">
327
+ <visual>
328
+ <origin
329
+ xyz="0 0 0"
330
+ rpy="0 0 0" />
331
+ <geometry>
332
+ <sphere radius="0.005"/>
333
+ </geometry>
334
+ <material name="red">
335
+ <color rgba="1 0 0 1" />
336
+ </material>
337
+ </visual>
338
+ </link>
339
+
340
+ <link name="index_tip">
341
+ <visual>
342
+ <origin
343
+ xyz="0 0 0"
344
+ rpy="0 0 0" />
345
+ <geometry>
346
+ <sphere radius="0.005"/>
347
+ </geometry>
348
+ <material name="green">
349
+ <color rgba="0 1 0 1" />
350
+ </material>
351
+ </visual>
352
+ </link>
353
+
354
+ <link name="middle_tip">
355
+ <visual>
356
+ <origin
357
+ xyz="0 0 0"
358
+ rpy="0 0 0" />
359
+ <geometry>
360
+ <sphere radius="0.005"/>
361
+ </geometry>
362
+ <material name="blue">
363
+ <color rgba="0 0 1 1" />
364
+ </material>
365
+ </visual>
366
+ </link>
367
+
368
+ <!-- for mediapipe -->
369
+ <!-- <link name="base_link_thumb" />
370
+ <joint name="base_thumb" type="fixed">
371
+ <parent link="base_link_thumb" />
372
+ <child link="base_link" />
373
+ <origin rpy="0 0 0" xyz="-0.04 -0.05 -0.06" />
374
+ </joint>
375
+
376
+ <link name="base_link" />
377
+ <joint name="base" type="fixed">
378
+ <parent link="base_link" />
379
+ <child link="right_hand_palm_link" />
380
+ <origin rpy="0 -1.57 -1.57" xyz="0.02 -0.01 0" />
381
+ </joint>
382
+
383
+ <link name="thumb_tip">
384
+ <visual>
385
+ <origin
386
+ xyz="0 0 0"
387
+ rpy="0 0 0" />
388
+ <geometry>
389
+ <sphere radius="0.005"/>
390
+ </geometry>
391
+ <material name="red">
392
+ <color rgba="1 0 0 1" />
393
+ </material>
394
+ </visual>
395
+ </link>
396
+
397
+ <link name="index_tip">
398
+ <visual>
399
+ <origin
400
+ xyz="0 0 0"
401
+ rpy="0 0 0" />
402
+ <geometry>
403
+ <sphere radius="0.005"/>
404
+ </geometry>
405
+ <material name="green">
406
+ <color rgba="0 1 0 1" />
407
+ </material>
408
+ </visual>
409
+ </link>
410
+
411
+ <link name="middle_tip">
412
+ <visual>
413
+ <origin
414
+ xyz="0 0 0"
415
+ rpy="0 0 0" />
416
+ <geometry>
417
+ <sphere radius="0.005"/>
418
+ </geometry>
419
+ <material name="blue">
420
+ <color rgba="0 0 1 1" />
421
+ </material>
422
+ </visual>
423
+ </link>
424
+
425
+ <joint name="thumb_tip_joint" type="fixed">
426
+ <parent link="right_hand_thumb_2_link" />
427
+ <child link="thumb_tip" />
428
+ <origin rpy="0 0 0" xyz="0.003 0.05 0" />
429
+ </joint>
430
+
431
+ <joint name="middle_joint" type="fixed">
432
+ <parent link="right_hand_middle_1_link" />
433
+ <child link="middle_tip" />
434
+ <origin rpy="0 0 0" xyz="0.05 0.003 0" />
435
+ </joint>
436
+
437
+ <joint name="index_joint" type="fixed">
438
+ <parent link="right_hand_index_1_link" />
439
+ <child link="index_tip" />
440
+ <origin rpy="0 0 0" xyz="0.05 0.003 0" />
441
+ </joint> -->
442
+
443
+ </robot>