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cdellin/side_by_side_wams_padded.kinbody.xml

Created May 20, 2016 18:27
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side_by_side_wams_padded.kinbody.xml
<?xml version="1.0" encoding="utf-8"?>
<!-- TWO WAM ARMS ORIENTED UPRIGHT AND NEXT TO ONE ANOTHER -->
<KinBody name="WAM7">
<!-- ============= RIGHT ARM ==================== -->
<Body name="/right/wam0" type="dynamic">
<offsetfrom>herb_base</offsetfrom>
<Translation>0.079 -0.191 0.905</Translation>
<RotationMat>0 0 1 0 -1 0 1 0 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam0.iv 1.0</Data>
<Render>barrett/wam0.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>10</total>
</mass>
</Body>
<Body name="/right/wam1" type="dynamic">
<offsetfrom>/right/wam0</offsetfrom>
<Geom type="trimesh">
<Data>barrett/wam1.iv 1.0</Data>
<Render>barrett/wam1.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>8.3936</total>
<com>0.0006286 -0.1326795 0.0003506</com>
</mass>
</Body>
<Joint name="R_Shoulder_Yaw" type="hinge">
<body>/right/wam0</body>
<body>/right/wam1</body>
<offsetfrom>/right/wam1</offsetfrom>
<axis>0 0 1</axis>
<!--<limitsdeg>-150 150</limitsdeg>-->
<limitsdeg>30 330</limitsdeg>
<weight>2</weight>
<maxvel>0.75</maxvel>
<maxaccel>2.5</maxaccel>
<resolution>1</resolution>
</Joint>
<Body name="/right/wam2" type="dynamic">
<offsetfrom>/right/wam1</offsetfrom>
<Translation>0 0 0</Translation>
<RotationMat>1 0 0 0 0 1 0 -1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam2.iv 1.0</Data>
<Render>barrett/wam2.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>4.8487</total>
</mass>
</Body>
<Joint name="R_Shoulder_Pitch" type="hinge">
<body>/right/wam1</body>
<body>/right/wam2</body>
<offsetfrom>/right/wam2</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-113 113</limitsdeg>
<weight>2</weight>
<maxvel>0.75</maxvel>
<maxaccel>6.667</maxaccel>
<resolution>1</resolution>
</Joint>
<Body name="/right/wam3" type="dynamic">
<offsetfrom>/right/wam2</offsetfrom>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam3_joint_encoder.iv 1.0</Data>
<Render>barrett/wam3_joint_encoder.iv 1.0</Render>
</Geom>
<!--cylinder for padding-->
<Geom type="cylinder" render="false">
<translation>0 0 .25</translation>
<rotationaxis>1 0 0 -90</rotationaxis>
<radius>0.06</radius>
<height>0.5</height>
<diffuseColor>0 .5 .5</diffuseColor>
</Geom>
<!--sphere for padding at elbow -->
<Geom type="sphere" render="false">
<translation>0.0 0. 0.5</translation>
<radius>0.06</radius>
<diffuseColor>0 .2 .5</diffuseColor>
</Geom>
<Geom type="sphere" render="false">
<translation>0.045 0. 0.55</translation>
<radius>0.08</radius>
<diffuseColor>0 .5 .5</diffuseColor>
</Geom>
<!-- end wam3 padding -->
<mass type="custom">
<total>1.7251</total>
</mass>
</Body>
<Joint name="R_Shoulder_Roll" type="hinge">
<body>/right/wam2</body>
<body>/right/wam3</body>
<offsetfrom>/right/wam3</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-157 157</limitsdeg>
<weight>2</weight>
<maxvel>2.0</maxvel>
<maxaccel>6.667</maxaccel>
<resolution>1</resolution>
</Joint>
<Body name="/right/wam4" type="dynamic">
<offsetfrom>/right/wam3</offsetfrom>
<Translation>0.045 0 0.55</Translation>
<RotationMat>1 0 0 0 0 1 0 -1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam4.iv 1.0</Data>
<Render>barrett/wam4.iv 1.0</Render>
</Geom>
<!--cylinder for padding-->
<Geom type="cylinder" render="false">
<translation>-0.045 -0.15 0</translation>
<!--<rotationaxis>0 1 0 0</rotationaxis>-->
<radius>0.06</radius>
<height>0.3</height>
<diffuseColor>0 .2 .5</diffuseColor>
</Geom>
<!-- end wam4 padding -->
<mass type="custom">
<total>0.4809</total>
</mass>
</Body>
<Joint name="R_Elbow" type="hinge">
<body>/right/wam3</body>
<body>/right/wam4</body>
<offsetfrom>/right/wam4</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-50 180</limitsdeg>
<weight>2</weight>
<maxvel>2.0</maxvel>
<maxaccel>6.667</maxaccel>
<resolution>1</resolution>
</Joint>
<Body name="/right/wam5" type="dynamic">
<offsetfrom>/right/wam4</offsetfrom>
<Translation>-0.045 0 0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam5.iv 1.0</Data>
<Render>barrett/wam5.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>1.6015</total>
</mass>
</Body>
<Joint name="R_Wrist_Yaw" type="hinge">
<body>/right/wam4</body>
<body>/right/wam5</body>
<offsetfrom>/right/wam5</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-275 75</limitsdeg>
<weight>1</weight>
<maxvel>2.5</maxvel>
<maxaccel>8.333</maxaccel>
<resolution>2</resolution>
</Joint>
<Body name="/right/wam6" type="dynamic">
<offsetfrom>/right/wam5</offsetfrom>
<Translation>0 0 0.3</Translation>
<RotationMat>1 0 0 0 0 1 0 -1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam6.iv 1.0</Data>
<Render>barrett/wam6.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>0.3067</total>
</mass>
</Body>
<Joint name="R_Wrist_Pitch" type="hinge">
<body>/right/wam5</body>
<body>/right/wam6</body>
<offsetfrom>/right/wam6</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-90 90</limitsdeg>
<weight>1</weight>
<maxvel>2.5</maxvel>
<maxaccel>8.333</maxaccel>
<resolution>2</resolution>
</Joint>
<Body name="/right/wam7" type="dynamic">
<offsetfrom>/right/wam6</offsetfrom>
<Translation>0.0 0.0 0.0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<data>barrett/wam7_280.iv 1.0</data>
<Render>barrett/wam7_280.iv 1.0</Render>
</Geom>
<!--cylinder for padding
<Geom type="cylinder" render="false">
<translation>0 0 .05</translation>
<rotationaxis>1 0 0 -90</rotationaxis>
<radius>0.06</radius>
<height>0.10</height>
<diffuseColor>0 .5 .5</diffuseColor>
</Geom>
-->
<!-- end wam7 padding -->
<mass type="custom">
<total>1.18</total>
</mass>
</Body>
<Joint name="R_Wrist_Roll" type="hinge">
<body>/right/wam6</body>
<body>/right/wam7</body>
<offsetfrom>/right/wam7</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-172 172</limitsdeg>
<weight>1</weight>
<maxvel>2.5</maxvel>
<maxaccel>8.333</maxaccel>
<resolution>2</resolution>
</Joint>
<adjacent>/right/wam1 /right/wam3</adjacent>
<adjacent>/right/wam4 /right/wam6</adjacent>
<adjacent>/right/wam4 /right/wam7</adjacent>
<!-- ============= RIGHT HAND ==================== -->
<Body name="/right/wam7" type="dynamic">
<Geom type="trimesh">
<Translation>0.0 0.0 0.135</Translation>
<RotationMat>-1 0 0 0 -1 0 0 0 1</RotationMat>
<data>barrett/link1.iv</data>
<Render>barrett/link1.iv</Render>
</Geom>
<mass type="custom">
<total>1.18</total>
</mass>
</Body>
<!-- finger 0-->
<Body name="/right/finger0_0" type="dynamic">
<offsetfrom>/right/wam7</offsetfrom>
<Translation>0 -0.025 0.135</Translation>
<Geom type="trimesh">
<data>barrett/link1.iv</data>
<Render>barrett/link1.iv</Render>
</Geom>
</Body>
<Body name="/right/finger0_1" type="dynamic" >
<offsetfrom>/right/finger0_0</offsetfrom>
<Translation>0.05 0 0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link2.iv</data>
<Render>barrett/link2.iv</Render>
</Geom>
</Body>
<Joint type="hinge" name="RJF1">
<Body>/right/finger0_0</Body>
<Body>/right/finger0_1</Body>
<offsetfrom>/right/finger0_1</offsetfrom>
<weight>4</weight>
<limitsdeg>0 155</limitsdeg>
<axis>0 0 1</axis>
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="/right/finger0_2" type="dynamic" >
<offsetfrom>/right/finger0_1</offsetfrom>
<Translation>0.07 0 0</Translation>
<RotationMat>1 0 0 0 1 0 0 0 1</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link3.iv</data>
<Render>barrett/link3.iv</Render>
</Geom>
</Body>
<Joint name="RJF1mimic" type="hinge" enable="false" mimic_pos="RJF1/3+0.8727" mimic_vel="|RJF1 0.33333">
<Body>/right/finger0_1</Body>
<Body>/right/finger0_2</Body>
<offsetfrom>/right/finger0_2</offsetfrom>
<weight>4</weight>
<limitsdeg>46 102</limitsdeg>
<axis>0 0 1</axis>
<maxvel>1</maxvel>
<resolution>1</resolution>
</Joint>
<!-- finger 1-->
<Body name="/right/finger1_0" type="dynamic">
<offsetfrom>/right/wam7</offsetfrom>
<Translation>0 0.025 0.135</Translation>
<Geom type="trimesh">
<data>barrett/link1.iv</data>
<Render>barrett/link1.iv</Render>
</Geom>
</Body>
<Body name="/right/finger1_1" type="dynamic" >
<offsetfrom>/right/finger1_0</offsetfrom>
<Translation>0.05 0 0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link2.iv</data>
<Render>barrett/link2.iv</Render>
</Geom>
</Body>
<Joint type="hinge" name="RJF2">
<Body>/right/finger1_0</Body>
<Body>/right/finger1_1</Body>
<offsetfrom>/right/finger1_1</offsetfrom>
<weight>4</weight>
<limitsdeg>0 155</limitsdeg>
<axis>0 0 1</axis>
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="/right/finger1_2" type="dynamic" >
<offsetfrom>/right/finger1_1</offsetfrom>
<Translation>0.07 0 0</Translation>
<RotationMat>1 0 0 0 1 0 0 0 1</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link3.iv</data>
<Render>barrett/link3.iv</Render>
</Geom>
</Body>
<Joint name="RJF2mimic" type="hinge" enable="false" mimic_pos="RJF2/3+0.8727" mimic_vel="|RJF2 0.33333">
<Body>/right/finger1_1</Body>
<Body>/right/finger1_2</Body>
<offsetfrom>/right/finger1_2</offsetfrom>
<weight>4</weight>
<limitsdeg>46 102</limitsdeg>
<axis>0 0 1</axis>
<maxvel>1</maxvel>
<resolution>1</resolution>
</Joint>
<!-- finger 2-->
<Body name="/right/finger2_1" type="dynamic" >
<offsetfrom>/right/wam7</offsetfrom>
<Translation>-0.05 0 0.135</Translation>
<RotationMat>-1 0 0 0 0 1 0 1 0</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link2.iv</data>
<Render>barrett/link2.iv</Render>
</Geom>
</Body>
<Joint type="hinge" name="RJF3">
<body>/right/wam7</body>
<Body>/right/finger2_1</Body>
<offsetfrom>/right/finger2_1</offsetfrom>
<weight>4</weight>
<limitsdeg>0 155</limitsdeg>
<axis>0 0 1</axis>
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="/right/finger2_2" type="dynamic" >
<offsetfrom>/right/finger2_1</offsetfrom>
<Translation>0.07 0 0</Translation>
<RotationMat>1 0 0 0 1 0 0 0 1</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link3.iv</data>
<Render>barrett/link3.iv</Render>
</Geom>
</Body>
<Joint name="RJF3mimic" type="hinge" enable="false" mimic_pos="RJF3/3+0.8727" mimic_vel="|RJF3 0.33333">
<Body>/right/finger2_1</Body>
<Body>/right/finger2_2</Body>
<offsetfrom>/right/finger2_2</offsetfrom>
<weight>4</weight>
<limitsdeg>46 102</limitsdeg>
<axis>0 0 1</axis>
<maxvel>1</maxvel>
<resolution>1</resolution>
</Joint>
<!-- spread -->
<Joint name = "RJF4" type="hinge">
<body>/right/wam7</body>
<Body>/right/finger0_0</Body>
<offsetfrom>/right/finger0_0</offsetfrom>
<weight>4</weight>
<limitsdeg>-1 181</limitsdeg>
<axis>0 0 -1</axis>
<!-- <anchor>0.025 0 0</anchor> -->
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<Joint name="RJF4mimic" type="hinge" enable="false" mimic_pos="RJF4" mimic_vel="|RJF4 1.0">
<body>/right/wam7</body>
<Body>/right/finger1_0</Body>
<offsetfrom>/right/finger1_0</offsetfrom>
<weight>4</weight>
<limitsdeg>-1 181</limitsdeg>
<axis>0 0 1</axis>
<!-- <anchor>-0.025 0 0</anchor> -->
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<!-- add adjacent links, necessary in order to prevent bogus collisions -->
<adjacent>/right/finger0_0 /right/finger1_0</adjacent>
<adjacent>/right/finger0_0 /right/finger0_1</adjacent>
<adjacent>/right/finger0_0 /right/finger0_2</adjacent>
<adjacent>/right/finger0_0 /right/finger1_1</adjacent>
<adjacent>/right/finger0_0 /right/finger1_2</adjacent>
<adjacent>/right/finger0_0 /right/finger2_1</adjacent>
<adjacent>/right/finger0_0 /right/finger2_2</adjacent>
<adjacent>/right/finger1_0 /right/finger0_1</adjacent>
<adjacent>/right/finger1_0 /right/finger0_2</adjacent>
<adjacent>/right/finger1_0 /right/finger1_1</adjacent>
<adjacent>/right/finger1_0 /right/finger1_2</adjacent>
<adjacent>/right/finger1_0 /right/finger2_1</adjacent>
<adjacent>/right/finger1_0 /right/finger2_2</adjacent>
<adjacent>/right/finger0_1 /right/finger0_2</adjacent>
<adjacent>/right/finger0_1 /right/finger1_1</adjacent>
<adjacent>/right/finger0_1 /right/finger1_2</adjacent>
<adjacent>/right/finger0_1 /right/finger2_1</adjacent>
<adjacent>/right/finger0_1 /right/finger2_2</adjacent>
<adjacent>/right/finger0_2 /right/finger1_1</adjacent>
<adjacent>/right/finger0_2 /right/finger1_2</adjacent>
<adjacent>/right/finger0_2 /right/finger2_1</adjacent>
<adjacent>/right/finger0_2 /right/finger2_2</adjacent>
<adjacent>/right/finger1_1 /right/finger1_2</adjacent>
<adjacent>/right/finger1_1 /right/finger2_1</adjacent>
<adjacent>/right/finger1_1 /right/finger2_2</adjacent>
<adjacent>/right/finger1_2 /right/finger2_1</adjacent>
<adjacent>/right/finger1_2 /right/finger2_2</adjacent>
<adjacent>/right/finger2_1 /right/finger2_2</adjacent>
<adjacent>/right/wam7 /right/finger1_0</adjacent>
<adjacent>/right/wam7 /right/finger0_1</adjacent>
<adjacent>/right/wam7 /right/finger0_2</adjacent>
<adjacent>/right/wam7 /right/finger1_1</adjacent>
<adjacent>/right/wam7 /right/finger1_2</adjacent>
<adjacent>/right/wam7 /right/finger2_1</adjacent>
<adjacent>/right/wam7 /right/finger2_2</adjacent>
<!-- ============= LEFT ARM ==================== -->
<Body name="/left/wam0" type="dynamic">
<offsetfrom>herb_base</offsetfrom>
<Translation>0.079 0.191 0.905</Translation>
<RotationMat>0 0 1 0 -1 0 1 0 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam0.iv 1.0</Data>
<Render>barrett/wam0.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>10</total>
</mass>
</Body>
<Body name="/left/wam1" type="dynamic">
<offsetfrom>/left/wam0</offsetfrom>
<Geom type="trimesh">
<Data>barrett/wam1.iv 1.0</Data>
<Render>barrett/wam1.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>8.3936</total>
<com>0.0006286 -0.1326795 0.0003506</com>
</mass>
</Body>
<Joint name="L_Shoulder_Yaw" type="hinge">
<Body>/left/wam0</Body>
<Body>/left/wam1</Body>
<offsetfrom>/left/wam1</offsetfrom>
<axis>0 0 1</axis>
<!--<limitsdeg>-150 150</limitsdeg>-->
<limitsdeg>30 330</limitsdeg>
<weight>2</weight>
<maxvel>0.75</maxvel>
<maxaccel>2.5</maxaccel>
<resolution>1</resolution>
</Joint>
<Body name="/left/wam2" type="dynamic">
<offsetfrom>/left/wam1</offsetfrom>
<Translation>0 0 0</Translation>
<RotationMat>1 0 0 0 0 1 0 -1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam2.iv 1.0</Data>
<Render>barrett/wam2.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>4.8487</total>
</mass>
</Body>
<Joint name="L_Shoulder_Pitch" type="hinge">
<Body>/left/wam1</Body>
<Body>/left/wam2</Body>
<offsetfrom>/left/wam2</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-113 113</limitsdeg>
<weight>2</weight>
<maxvel>0.75</maxvel>
<maxaccel>2.5</maxaccel>
<resolution>1</resolution>
</Joint>
<Body name="/left/wam3" type="dynamic">
<offsetfrom>/left/wam2</offsetfrom>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam3.iv 1.0</Data>
<Render>barrett/wam3.iv 1.0</Render>
</Geom>
<!--cylinder for padding-->
<Geom type="cylinder" render="false">
<translation>0 0 .25</translation>
<rotationaxis>1 0 0 -90</rotationaxis>
<radius>0.06</radius>
<height>0.5</height>
<diffuseColor>0 .5 .5</diffuseColor>
</Geom>
<!--sphere for padding at elbow -->
<Geom type="sphere" render="false">
<translation>0.0 0. 0.5</translation>
<radius>0.06</radius>
<diffuseColor>0 .2 .5</diffuseColor>
</Geom>
<Geom type="sphere" render="false">
<translation>0.045 0. 0.55</translation>
<radius>0.08</radius>
<diffuseColor>0 .5 .5</diffuseColor>
</Geom>
<!-- end wam3 padding -->
<mass type="custom">
<total>1.7251</total>
</mass>
</Body>
<Joint name="L_Shoulder_Roll" type="hinge">
<Body>/left/wam2</Body>
<Body>/left/wam3</Body>
<offsetfrom>/left/wam3</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-157 157</limitsdeg>
<weight>2</weight>
<maxvel>2.0</maxvel>
<maxaccel>6.667</maxaccel>
<resolution>1</resolution>
</Joint>
<Body name="/left/wam4" type="dynamic">
<offsetfrom>/left/wam3</offsetfrom>
<Translation>0.045 0 0.55</Translation>
<RotationMat>1 0 0 0 0 1 0 -1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam4.iv 1.0</Data>
<Render>barrett/wam4.iv 1.0</Render>
</Geom>
<!--cylinder for padding-->
<Geom type="cylinder" render="false">
<translation>-0.045 -0.15 0</translation>
<!--<rotationaxis>0 1 0 0</rotationaxis>-->
<radius>0.06</radius>
<height>0.3</height>
<diffuseColor>0 .2 .5</diffuseColor>
</Geom>
<!-- end wam4 padding -->
<mass type="custom">
<total>0.4809</total>
</mass>
</Body>
<Joint name="L_Elbow" type="hinge">
<Body>/left/wam3</Body>
<Body>/left/wam4</Body>
<offsetfrom>/left/wam4</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-50 180</limitsdeg>
<weight>2</weight>
<maxvel>2.0</maxvel>
<maxaccel>6.667</maxaccel>
<resolution>1</resolution>
</Joint>
<Body name="/left/wam5" type="dynamic">
<offsetfrom>/left/wam4</offsetfrom>
<Translation>-0.045 0 0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam5.iv 1.0</Data>
<Render>barrett/wam5.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>1.6015</total>
</mass>
</Body>
<Joint name="L_Wrist_Yaw" type="hinge">
<Body>/left/wam4</Body>
<Body>/left/wam5</Body>
<offsetfrom>/left/wam5</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-275 75</limitsdeg>
<weight>1</weight>
<maxvel>2.5</maxvel>
<maxaccel>8.33</maxaccel>
<resolution>2</resolution>
</Joint>
<Body name="/left/wam6" type="dynamic">
<offsetfrom>/left/wam5</offsetfrom>
<Translation>0 0 0.3</Translation>
<RotationMat>1 0 0 0 0 1 0 -1 0</RotationMat>
<Geom type="trimesh">
<Data>barrett/wam6.iv 1.0</Data>
<Render>barrett/wam6.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>0.3067</total>
</mass>
</Body>
<Joint name="L_Wrist_Pitch" type="hinge">
<Body>/left/wam5</Body>
<Body>/left/wam6</Body>
<offsetfrom>/left/wam6</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-90 90</limitsdeg>
<weight>1</weight>
<maxvel>2.5</maxvel>
<maxaccel>8.33</maxaccel>
<resolution>2</resolution>
</Joint>
<Body name="/left/wam7" type="dynamic">
<offsetfrom>/left/wam6</offsetfrom>
<Translation>0.0 0.0 0.0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<data>barrett/wam7.iv 1.0</data>
<Render>barrett/wam7.iv 1.0</Render>
</Geom>
<mass type="custom">
<total>1.18</total>
</mass>
</Body>
<Joint name="L_Wrist_Roll" type="hinge">
<Body>/left/wam6</Body>
<Body>/left/wam7</Body>
<offsetfrom>/left/wam7</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-172 172</limitsdeg>
<weight>1</weight>
<maxvel>2.5</maxvel>
<maxaccel>8.33</maxaccel>
<resolution>2</resolution>
</Joint>
<adjacent>/left/wam1 /left/wam3</adjacent>
<adjacent>/left/wam4 /left/wam6</adjacent>
<adjacent>/left/wam4 /left/wam7</adjacent>
<!-- ============= LEFT HAND ==================== -->
<Body name="/left/wam7" type="dynamic">
<Geom type="trimesh">
<Translation>0.0 0.0 0.154</Translation>
<RotationMat>-1 0 0 0 -1 0 0 0 1</RotationMat>
<data>barrett/link1.iv</data>
<Render>barrett/link1.iv</Render>
</Geom>
<mass type="custom">
<total>1.18</total>
</mass>
</Body>
<!-- finger 0-->
<Body name="/left/finger0_0" type="dynamic">
<offsetfrom>/left/wam7</offsetfrom>
<Translation>0 -0.025 0.154</Translation>
<Geom type="trimesh">
<data>barrett/link1.iv</data>
<Render>barrett/link1.iv</Render>
</Geom>
</Body>
<Body name="/left/finger0_1" type="dynamic" >
<offsetfrom>/left/finger0_0</offsetfrom>
<Translation>0.05 0 0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link2.iv</data>
<Render>barrett/link2.iv</Render>
</Geom>
</Body>
<Joint type="hinge" name="LJF1">
<Body>/left/finger0_0</Body>
<Body>/left/finger0_1</Body>
<offsetfrom>/left/finger0_1</offsetfrom>
<weight>4</weight>
<limitsdeg>0 155</limitsdeg>
<axis>0 0 1</axis>
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="/left/finger0_2" type="dynamic" >
<offsetfrom>/left/finger0_1</offsetfrom>
<Translation>0.07 0 0</Translation>
<RotationMat>1 0 0 0 1 0 0 0 1</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link3.iv</data>
<Render>barrett/link3.iv</Render>
</Geom>
</Body>
<Joint name="LJF1mimic" type="hinge" enable="false" mimic_pos="LJF1/3+0.8727" mimic_vel="|LJF1 0.33333">
<Body>/left/finger0_1</Body>
<Body>/left/finger0_2</Body>
<offsetfrom>/left/finger0_2</offsetfrom>
<weight>4</weight>
<limitsdeg>46 102</limitsdeg>
<axis>0 0 1</axis>
<maxvel>1</maxvel>
<resolution>1</resolution>
</Joint>
<!-- finger 1-->
<Body name="/left/finger1_0" type="dynamic">
<offsetfrom>/left/wam7</offsetfrom>
<Translation>0 0.025 0.154</Translation>
<Geom type="trimesh">
<data>barrett/link1.iv</data>
<Render>barrett/link1.iv</Render>
</Geom>
</Body>
<Body name="/left/finger1_1" type="dynamic" >
<offsetfrom>/left/finger1_0</offsetfrom>
<Translation>0.05 0 0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link2.iv</data>
<Render>barrett/link2.iv</Render>
</Geom>
</Body>
<Joint type="hinge" name="LJF2">
<Body>/left/finger1_0</Body>
<Body>/left/finger1_1</Body>
<offsetfrom>/left/finger1_1</offsetfrom>
<weight>4</weight>
<limitsdeg>0 155</limitsdeg>
<axis>0 0 1</axis>
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="/left/finger1_2" type="dynamic" >
<offsetfrom>/left/finger1_1</offsetfrom>
<Translation>0.07 0 0</Translation>
<RotationMat>1 0 0 0 1 0 0 0 1</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link3.iv</data>
<Render>barrett/link3.iv</Render>
</Geom>
</Body>
<Joint name="LJF2mimic" type="hinge" enable="false" mimic_pos="LJF2/3+0.8727" mimic_vel="|LJF2 0.33333">
<Body>/left/finger1_1</Body>
<Body>/left/finger1_2</Body>
<offsetfrom>/left/finger1_2</offsetfrom>
<weight>4</weight>
<limitsdeg>46 102</limitsdeg>
<axis>0 0 1</axis>
<maxvel>1</maxvel>
<resolution>1</resolution>
</Joint>
<!-- finger 2-->
<Body name="/left/finger2_1" type="dynamic" >
<offsetfrom>/left/wam7</offsetfrom>
<Translation>-0.05 0 0.154</Translation>
<RotationMat>-1 0 0 0 0 1 0 1 0</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link2.iv</data>
<Render>barrett/link2.iv</Render>
</Geom>
</Body>
<Joint type="hinge" name="LJF3">
<Body>/left/wam7</Body>
<Body>/left/finger2_1</Body>
<offsetfrom>/left/finger2_1</offsetfrom>
<weight>4</weight>
<limitsdeg>0 155</limitsdeg>
<axis>0 0 1</axis>
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="/left/finger2_2" type="dynamic" >
<offsetfrom>/left/finger2_1</offsetfrom>
<Translation>0.07 0 0</Translation>
<RotationMat>1 0 0 0 1 0 0 0 1</RotationMat>
<Geom type="trimesh">
<Translation>0 0 0</Translation>
<data>barrett/link3.iv</data>
<Render>barrett/link3.iv</Render>
</Geom>
</Body>
<Joint name="LJF3mimic" type="hinge" enable="false" mimic_pos="LJF3/3+0.8727" mimic_vel="|LJF3 0.33333">
<Body>/left/finger2_1</Body>
<Body>/left/finger2_2</Body>
<offsetfrom>/left/finger2_2</offsetfrom>
<weight>4</weight>
<limitsdeg>46 102</limitsdeg>
<axis>0 0 1</axis>
<maxvel>1</maxvel>
<resolution>1</resolution>
</Joint>
<!-- spread -->
<Joint name = "LJF4" type="hinge">
<Body>/left/wam7</Body>
<Body>/left/finger0_0</Body>
<offsetfrom>/left/finger0_0</offsetfrom>
<weight>4</weight>
<limitsdeg>-1 181</limitsdeg>
<axis>0 0 -1</axis>
<!-- <anchor>0.025 0 0</anchor> -->
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<Joint name="LJF4mimic" type="hinge" enable="false" mimic_pos="LJF4" mimic_vel="|LJF4 1.0">
<Body>/left/wam7</Body>
<Body>/left/finger1_0</Body>
<offsetfrom>/left/finger1_0</offsetfrom>
<weight>4</weight>
<limitsdeg>-1 181</limitsdeg>
<axis>0 0 1</axis>
<!-- <anchor>-0.025 0 0</anchor> -->
<maxvel>2</maxvel>
<resolution>1</resolution>
</Joint>
<!-- tactile pad visualization -->
<Body name="/right/palm_tactile" file="barretthand_tactile_palm.kinbody.xml">
<offsetfrom>/right/wam7</offsetfrom>
<rotationaxis>0 0 1 90</rotationaxis>
<translation>0.0150 -0.0300 0.1360</translation>
</Body>
<Body name="/right/finger0_tactile" file="barretthand_tactile_finger.kinbody.xml">
<offsetfrom>/right/finger0_2</offsetfrom>
<rotationaxis>0 1 0 -90</rotationaxis>
<rotationaxis>0 0 1 -90</rotationaxis>
<translation>0.0160 0.0098 -0.0050</translation>
</Body>
<Body name="/right/finger1_tactile" file="barretthand_tactile_finger.kinbody.xml">
<offsetfrom>/right/finger1_2</offsetfrom>
<rotationaxis>0 1 0 -90</rotationaxis>
<rotationaxis>0 0 1 -90</rotationaxis>
<translation>0.0160 0.0098 -0.0050</translation>
</Body>
<Body name="/right/finger2_tactile" file="barretthand_tactile_finger.kinbody.xml">
<offsetfrom>/right/finger2_2</offsetfrom>
<rotationaxis>0 1 0 -90</rotationaxis>
<rotationaxis>0 0 1 -90</rotationaxis>
<translation>0.0160 0.0098 -0.0050</translation>
</Body>
<Body name="/left/palm_tactile" file="barretthand_tactile_palm.kinbody.xml">
<offsetfrom>/left/wam7</offsetfrom>
<rotationaxis>0 0 1 90</rotationaxis>
<translation>0.0150 -0.0300 0.1560</translation>
</Body>
<Body name="/left/finger0_tactile" file="barretthand_tactile_finger.kinbody.xml">
<offsetfrom>/left/finger0_2</offsetfrom>
<rotationaxis>0 1 0 -90</rotationaxis>
<rotationaxis>0 0 1 -90</rotationaxis>
<translation>0.0160 0.0098 -0.0050</translation>
</Body>
<Body name="/left/finger1_tactile" file="barretthand_tactile_finger.kinbody.xml">
<offsetfrom>/left/finger1_2</offsetfrom>
<rotationaxis>0 1 0 -90</rotationaxis>
<rotationaxis>0 0 1 -90</rotationaxis>
<translation>0.0160 0.0098 -0.0050</translation>
</Body>
<Body name="/left/finger2_tactile" file="barretthand_tactile_finger.kinbody.xml">
<offsetfrom>/left/finger2_2</offsetfrom>
<rotationaxis>0 1 0 -90</rotationaxis>
<rotationaxis>0 0 1 -90</rotationaxis>
<translation>0.0160 0.0098 -0.0050</translation>
</Body>
<Joint type="hinge" name="RPT_Dummy" enable="false">
<Body>/right/wam7</Body>
<Body>/right/palm_tactile</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>
<Joint type="hinge" name="RF0_Dummy" enable="false">
<Body>/right/finger0_2</Body>
<Body>/right/finger0_tactile</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>
<Joint type="hinge" name="RF1_Dummy" enable="false">
<Body>/right/finger1_2</Body>
<Body>/right/finger1_tactile</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>
<Joint type="hinge" name="RF2_Dummy" enable="false">
<Body>/right/finger2_2</Body>
<Body>/right/finger2_tactile</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>
<Joint type="hinge" name="LPT_Dummy" enable="false">
<Body>/left/wam7</Body>
<Body>/left/palm_tactile</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>
<Joint type="hinge" name="LF0_Dummy" enable="false">
<Body>/left/finger0_2</Body>
<Body>/left/finger0_tactile</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>
<Joint type="hinge" name="LF1_Dummy" enable="false">
<Body>/left/finger1_2</Body>
<Body>/left/finger1_tactile</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>
<Joint type="hinge" name="LF2_Dummy" enable="false">
<Body>/left/finger2_2</Body>
<Body>/left/finger2_tactile</Body>
<limitsdeg>0 0</limitsdeg>
</Joint>
<adjacent>/left/finger0_tactile /left/wam7</adjacent>
<adjacent>/left/finger1_tactile /left/wam7</adjacent>
<adjacent>/left/finger2_tactile /left/wam7</adjacent>
<adjacent>/left/palm_tactile /left/finger0_tactile</adjacent>
<adjacent>/left/palm_tactile /left/finger1_tactile</adjacent>
<adjacent>/left/palm_tactile /left/finger2_tactile</adjacent>
<adjacent>/left/palm_tactile /left/finger0_0</adjacent>
<adjacent>/left/palm_tactile /left/finger0_1</adjacent>
<adjacent>/left/palm_tactile /left/finger0_2</adjacent>
<adjacent>/left/palm_tactile /left/finger1_0</adjacent>
<adjacent>/left/palm_tactile /left/finger1_1</adjacent>
<adjacent>/left/palm_tactile /left/finger1_2</adjacent>
<adjacent>/left/palm_tactile /left/finger2_0</adjacent>
<adjacent>/left/palm_tactile /left/finger2_1</adjacent>
<adjacent>/left/palm_tactile /left/finger2_2</adjacent>
<adjacent>/right/finger0_tactile /right/wam7</adjacent>
<adjacent>/right/finger1_tactile /right/wam7</adjacent>
<adjacent>/right/finger2_tactile /right/wam7</adjacent>
<adjacent>/right/palm_tactile /right/finger0_tactile</adjacent>
<adjacent>/right/palm_tactile /right/finger1_tactile</adjacent>
<adjacent>/right/palm_tactile /right/finger2_tactile</adjacent>
<adjacent>/right/palm_tactile /right/finger0_0</adjacent>
<adjacent>/right/palm_tactile /right/finger0_1</adjacent>
<adjacent>/right/palm_tactile /right/finger0_2</adjacent>
<adjacent>/right/palm_tactile /right/finger1_0</adjacent>
<adjacent>/right/palm_tactile /right/finger1_1</adjacent>
<adjacent>/right/palm_tactile /right/finger1_2</adjacent>
<adjacent>/right/palm_tactile /right/finger2_0</adjacent>
<adjacent>/right/palm_tactile /right/finger2_1</adjacent>
<adjacent>/right/palm_tactile /right/finger2_2</adjacent>
<!-- add adjacent links, necessary in order to prevent bogus collisions -->
<adjacent>/left/wam1 /right/wam1</adjacent>
<adjacent>/left/finger0_0 /left/finger1_0</adjacent>
<adjacent>/left/finger0_0 /left/finger0_1</adjacent>
<adjacent>/left/finger0_0 /left/finger0_2</adjacent>
<adjacent>/left/finger0_0 /left/finger1_1</adjacent>
<adjacent>/left/finger0_0 /left/finger1_2</adjacent>
<adjacent>/left/finger0_0 /left/finger2_1</adjacent>
<adjacent>/left/finger0_0 /left/finger2_2</adjacent>
<adjacent>/left/finger1_0 /left/finger0_1</adjacent>
<adjacent>/left/finger1_0 /left/finger0_2</adjacent>
<adjacent>/left/finger1_0 /left/finger1_1</adjacent>
<adjacent>/left/finger1_0 /left/finger1_2</adjacent>
<adjacent>/left/finger1_0 /left/finger2_1</adjacent>
<adjacent>/left/finger1_0 /left/finger2_2</adjacent>
<adjacent>/left/finger0_1 /left/finger0_2</adjacent>
<adjacent>/left/finger0_1 /left/finger1_1</adjacent>
<adjacent>/left/finger0_1 /left/finger1_2</adjacent>
<adjacent>/left/finger0_1 /left/finger2_1</adjacent>
<adjacent>/left/finger0_1 /left/finger2_2</adjacent>
<adjacent>/left/finger0_2 /left/finger1_1</adjacent>
<adjacent>/left/finger0_2 /left/finger1_2</adjacent>
<adjacent>/left/finger0_2 /left/finger2_1</adjacent>
<adjacent>/left/finger0_2 /left/finger2_2</adjacent>
<adjacent>/left/finger1_1 /left/finger1_2</adjacent>
<adjacent>/left/finger1_1 /left/finger2_1</adjacent>
<adjacent>/left/finger1_1 /left/finger2_2</adjacent>
<adjacent>/left/finger1_2 /left/finger2_1</adjacent>
<adjacent>/left/finger1_2 /left/finger2_2</adjacent>
<adjacent>/left/finger2_1 /left/finger2_2</adjacent>
<adjacent>/left/wam7 /left/finger1_0</adjacent>
<adjacent>/left/wam7 /left/finger0_1</adjacent>
<adjacent>/left/wam7 /left/finger0_2</adjacent>
<adjacent>/left/wam7 /left/finger1_1</adjacent>
<adjacent>/left/wam7 /left/finger1_2</adjacent>
<adjacent>/left/wam7 /left/finger2_1</adjacent>
<adjacent>/left/wam7 /left/finger2_2</adjacent>
</KinBody>
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