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March 23, 2015 17:38
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<?xml version="1.0" encoding="UTF-8"?> | |
<COLLADA xmlns="http://www.collada.org/2008/03/COLLADASchema" version="1.5.0"> | |
<asset> | |
<contributor> | |
<authoring_tool>URDF Collada Writer</authoring_tool> | |
</contributor> | |
<created>2015-03-23T18:27:52.000000</created> | |
<modified>2015-03-23T18:27:52.000000</modified> | |
<unit/> | |
<up_axis>Z_UP</up_axis> | |
</asset> | |
<library_visual_scenes id="vscenes"> | |
<visual_scene id="vscene" name="URDF Visual Scene"> | |
<node id="visual0" name="human_hand" sid="visual0"> | |
<node id="vkmodel0_node0" name="ahand_palm_link" sid="node0"> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node1" name="index_dof0_link" sid="node1"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.0934 0.02957 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_index_dof0_joint_axis0">0 0 1 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node2" name="index_dof1_link" sid="node2"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_index_dof1_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node3" name="index_dof2_link" sid="node3"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.04794 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_index_dof2_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node4" name="index_dof3_link" sid="node4"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.02827 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_index_dof3_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node5" name="index_dof4_link" sid="node5"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.02612 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_index_dof4_joint_axis0">0 0 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
</node> | |
</node> | |
</node> | |
</node> | |
</node> | |
<node id="vkmodel0_node6" name="middle_dof0_link" sid="node6"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.10125 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_middle_dof0_joint_axis0">0 0 1 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node7" name="middle_dof1_link" sid="node7"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_middle_dof1_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node8" name="middle_dof2_link" sid="node8"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.04988 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_middle_dof2_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node9" name="middle_dof3_link" sid="node9"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.03259 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_middle_dof3_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node10" name="middle_dof4_link" sid="node10"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.03043 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_middle_dof4_joint_axis0">0 0 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
</node> | |
</node> | |
</node> | |
</node> | |
</node> | |
<node id="vkmodel0_node11" name="pinky_dof0_link" sid="node11"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.082146 -0.047768 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_pinky_dof0_joint_axis0">0 0 1 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node12" name="pinky_dof1_link" sid="node12"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_pinky_dof1_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node13" name="pinky_dof2_link" sid="node13"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.03389 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_pinky_dof2_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node14" name="pinky_dof3_link" sid="node14"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.02396 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_pinky_dof3_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node15" name="pinky_dof4_link" sid="node15"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.02542 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_pinky_dof4_joint_axis0">0 0 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
</node> | |
</node> | |
</node> | |
</node> | |
</node> | |
<node id="vkmodel0_node16" name="ring_dof0_link" sid="node16"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.093608 -0.025021 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_ring_dof0_joint_axis0">0 0 1 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node17" name="ring_dof1_link" sid="node17"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_ring_dof1_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node18" name="ring_dof2_link" sid="node18"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.04416 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_ring_dof2_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node19" name="ring_dof3_link" sid="node19"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.03312 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_ring_dof3_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node20" name="ring_dof4_link" sid="node20"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.02887 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_ring_dof4_joint_axis0">0 0 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
</node> | |
</node> | |
</node> | |
</node> | |
</node> | |
<node id="vkmodel0_node21" name="thumb_dof0_link" sid="node21"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.032476 0.028433 0</translate> | |
<rotate>-0.01238310822551834 -0.007149390867435371 0.9998977671946768 60.00507314013976</rotate> | |
<rotate sid="node_thumb_dof0_joint_axis0">0 0 1 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node22" name="thumb_dof1_link" sid="node22"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_thumb_dof1_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node23" name="thumb_dof2_link" sid="node23"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.04565 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_thumb_dof2_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<node id="vkmodel0_node24" name="thumb_dof3_link" sid="node24"> | |
<translate>-0 -0 -0</translate> | |
<rotate>1 0 0 0</rotate> | |
<translate>0.02678 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<rotate sid="node_thumb_dof3_joint_axis0">0 -1 0 0</rotate> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
</node> | |
</node> | |
</node> | |
</node> | |
</node> | |
</node> | |
</visual_scene> | |
</library_visual_scenes> | |
<library_geometries id="geometries"/> | |
<library_effects id="effects"/> | |
<library_materials id="materials"/> | |
<library_kinematics_models id="kmodels"> | |
<kinematics_model id="kmodel0" name="human_hand"> | |
<technique_common> | |
<joint name="index_dof0_joint" sid="index_dof0_joint"> | |
<revolute sid="axis0"> | |
<axis>0 0 1</axis> | |
<limits> | |
<min>-8.000209693411685</min> | |
<max>3.00000701530499</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="index_dof1_joint" sid="index_dof1_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-8.000209693411685</min> | |
<max>3.00000701530499</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="index_dof2_joint" sid="index_dof2_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-90.00021045914971</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="index_dof3_joint" sid="index_dof3_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-99.99832398418258</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="index_dof4_joint" sid="index_dof4_joint"> | |
<revolute sid="axis0"> | |
<axis>0 0 0</axis> | |
<limits> | |
<min>0</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="middle_dof0_joint" sid="middle_dof0_joint"> | |
<revolute sid="axis0"> | |
<axis>0 0 1</axis> | |
<limits> | |
<min>-8.000209693411685</min> | |
<max>3.00000701530499</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="middle_dof1_joint" sid="middle_dof1_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-8.000209693411685</min> | |
<max>3.00000701530499</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="middle_dof2_joint" sid="middle_dof2_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-114.5915590261646</min> | |
<max>114.5915590261646</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="middle_dof3_joint" sid="middle_dof3_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-114.5915590261646</min> | |
<max>114.5915590261646</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="middle_dof4_joint" sid="middle_dof4_joint"> | |
<revolute sid="axis0"> | |
<axis>0 0 0</axis> | |
<limits> | |
<min>0</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="pinky_dof0_joint" sid="pinky_dof0_joint"> | |
<revolute sid="axis0"> | |
<axis>0 0 1</axis> | |
<limits> | |
<min>-8.000209693411685</min> | |
<max>3.00000701530499</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="pinky_dof1_joint" sid="pinky_dof1_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-8.000209693411685</min> | |
<max>3.00000701530499</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="pinky_dof2_joint" sid="pinky_dof2_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-90.00021045914971</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="pinky_dof3_joint" sid="pinky_dof3_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-99.99832398418258</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="pinky_dof4_joint" sid="pinky_dof4_joint"> | |
<revolute sid="axis0"> | |
<axis>0 0 0</axis> | |
<limits> | |
<min>0</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="ring_dof0_joint" sid="ring_dof0_joint"> | |
<revolute sid="axis0"> | |
<axis>0 0 1</axis> | |
<limits> | |
<min>-8.000209693411685</min> | |
<max>3.00000701530499</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="ring_dof1_joint" sid="ring_dof1_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-8.000209693411685</min> | |
<max>3.00000701530499</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="ring_dof2_joint" sid="ring_dof2_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-99.99832398418258</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="ring_dof3_joint" sid="ring_dof3_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-99.99832398418258</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="ring_dof4_joint" sid="ring_dof4_joint"> | |
<revolute sid="axis0"> | |
<axis>0 0 0</axis> | |
<limits> | |
<min>0</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="thumb_dof0_joint" sid="thumb_dof0_joint"> | |
<revolute sid="axis0"> | |
<axis>0 0 1</axis> | |
<limits> | |
<min>-99.99832398418258</min> | |
<max>39.99990255146816</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="thumb_dof1_joint" sid="thumb_dof1_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-46.99972793458143</min> | |
<max>30.0000701530499</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="thumb_dof2_joint" sid="thumb_dof2_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-90.00021045914971</min> | |
<max>0</max> | |
</limits> | |
</revolute> | |
</joint> | |
<joint name="thumb_dof3_joint" sid="thumb_dof3_joint"> | |
<revolute sid="axis0"> | |
<axis>0 -1 0</axis> | |
<limits> | |
<min>-90.00021045914971</min> | |
<max>20.00023775463164</max> | |
</limits> | |
</revolute> | |
</joint> | |
<link sid="ahand_palm_link" name="ahand_palm_link"> | |
<attachment_full joint="kmodel0/index_dof0_joint"> | |
<translate>0.0934 0.02957 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="index_dof0_link" name="index_dof0_link"> | |
<attachment_full joint="kmodel0/index_dof1_joint"> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="index_dof1_link" name="index_dof1_link"> | |
<attachment_full joint="kmodel0/index_dof2_joint"> | |
<translate>0.04794 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="index_dof2_link" name="index_dof2_link"> | |
<attachment_full joint="kmodel0/index_dof3_joint"> | |
<translate>0.02827 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="index_dof3_link" name="index_dof3_link"> | |
<attachment_full joint="kmodel0/index_dof4_joint"> | |
<translate>0.02612 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="index_dof4_link" name="index_dof4_link"/> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
<attachment_full joint="kmodel0/middle_dof0_joint"> | |
<translate>0.10125 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="middle_dof0_link" name="middle_dof0_link"> | |
<attachment_full joint="kmodel0/middle_dof1_joint"> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="middle_dof1_link" name="middle_dof1_link"> | |
<attachment_full joint="kmodel0/middle_dof2_joint"> | |
<translate>0.04988 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="middle_dof2_link" name="middle_dof2_link"> | |
<attachment_full joint="kmodel0/middle_dof3_joint"> | |
<translate>0.03259 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="middle_dof3_link" name="middle_dof3_link"> | |
<attachment_full joint="kmodel0/middle_dof4_joint"> | |
<translate>0.03043 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="middle_dof4_link" name="middle_dof4_link"/> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
<attachment_full joint="kmodel0/pinky_dof0_joint"> | |
<translate>0.082146 -0.047768 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="pinky_dof0_link" name="pinky_dof0_link"> | |
<attachment_full joint="kmodel0/pinky_dof1_joint"> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="pinky_dof1_link" name="pinky_dof1_link"> | |
<attachment_full joint="kmodel0/pinky_dof2_joint"> | |
<translate>0.03389 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="pinky_dof2_link" name="pinky_dof2_link"> | |
<attachment_full joint="kmodel0/pinky_dof3_joint"> | |
<translate>0.02396 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="pinky_dof3_link" name="pinky_dof3_link"> | |
<attachment_full joint="kmodel0/pinky_dof4_joint"> | |
<translate>0.02542 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="pinky_dof4_link" name="pinky_dof4_link"/> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
<attachment_full joint="kmodel0/ring_dof0_joint"> | |
<translate>0.093608 -0.025021 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="ring_dof0_link" name="ring_dof0_link"> | |
<attachment_full joint="kmodel0/ring_dof1_joint"> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="ring_dof1_link" name="ring_dof1_link"> | |
<attachment_full joint="kmodel0/ring_dof2_joint"> | |
<translate>0.04416 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="ring_dof2_link" name="ring_dof2_link"> | |
<attachment_full joint="kmodel0/ring_dof3_joint"> | |
<translate>0.03312 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="ring_dof3_link" name="ring_dof3_link"> | |
<attachment_full joint="kmodel0/ring_dof4_joint"> | |
<translate>0.02887 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="ring_dof4_link" name="ring_dof4_link"/> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
<attachment_full joint="kmodel0/thumb_dof0_joint"> | |
<translate>0.032476 0.028433 0</translate> | |
<rotate>-0.01238310822551834 -0.007149390867435371 0.9998977671946768 60.00507314013976</rotate> | |
<link sid="thumb_dof0_link" name="thumb_dof0_link"> | |
<attachment_full joint="kmodel0/thumb_dof1_joint"> | |
<translate>0 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="thumb_dof1_link" name="thumb_dof1_link"> | |
<attachment_full joint="kmodel0/thumb_dof2_joint"> | |
<translate>0.04565 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="thumb_dof2_link" name="thumb_dof2_link"> | |
<attachment_full joint="kmodel0/thumb_dof3_joint"> | |
<translate>0.02678 0 0</translate> | |
<rotate>1 0 0 0</rotate> | |
<link sid="thumb_dof3_link" name="thumb_dof3_link"/> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</attachment_full> | |
</link> | |
</technique_common> | |
</kinematics_model> | |
</library_kinematics_models> | |
<library_articulated_systems id="asystems"> | |
<articulated_system id="robot0_motion"> | |
<motion> | |
<instance_articulated_system url="#robot0_kinematics"> | |
<newparam sid="robot0_motion_kmodel0_inst"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value"> | |
<SIDREF>robot0_kinematics/robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value</SIDREF> | |
</newparam> | |
</instance_articulated_system> | |
<technique_common> | |
<axis_info axis="robot0_kinematics/axis_info_inst0"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst1"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst2"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst3"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst4"/> | |
<axis_info axis="robot0_kinematics/axis_info_inst5"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst6"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst7"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst8"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst9"/> | |
<axis_info axis="robot0_kinematics/axis_info_inst10"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst11"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst12"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst13"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst14"/> | |
<axis_info axis="robot0_kinematics/axis_info_inst15"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst16"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst17"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst18"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst19"/> | |
<axis_info axis="robot0_kinematics/axis_info_inst20"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst21"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst22"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
<axis_info axis="robot0_kinematics/axis_info_inst23"> | |
<speed> | |
<float>100</float> | |
</speed> | |
<acceleration> | |
<float>100</float> | |
</acceleration> | |
</axis_info> | |
</technique_common> | |
</motion> | |
</articulated_system> | |
<articulated_system id="robot0_kinematics"> | |
<kinematics> | |
<instance_kinematics_model url="#kmodel0" sid="kmodel0_inst"> | |
<newparam sid="robot0_kinematics_kmodel0_inst"> | |
<SIDREF>robot0_kinematics/kmodel0_inst</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof0_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof1_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof2_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof3_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/index_dof4_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof0_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof1_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof2_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof3_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/middle_dof4_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof0_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof1_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof2_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof3_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/pinky_dof4_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof0_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof1_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof2_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof3_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/ring_dof4_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/thumb_dof0_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/thumb_dof1_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/thumb_dof2_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0"> | |
<SIDREF>robot0_kinematics/kmodel0_inst/thumb_dof3_joint/axis0</SIDREF> | |
</newparam> | |
<newparam sid="robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value"> | |
<float>0</float> | |
</newparam> | |
</instance_kinematics_model> | |
<technique_common> | |
<axis_info sid="axis_info_inst0" axis="kmodel0/index_dof0_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-8.000209693411685</float> | |
</min> | |
<max> | |
<float>3.00000701530499</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst1" axis="kmodel0/index_dof1_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-8.000209693411685</float> | |
</min> | |
<max> | |
<float>3.00000701530499</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst2" axis="kmodel0/index_dof2_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-90.00021045914971</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst3" axis="kmodel0/index_dof3_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-99.99832398418258</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst4" axis="kmodel0/index_dof4_joint/axis0"> | |
<active> | |
<bool>false</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>0</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst5" axis="kmodel0/middle_dof0_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-8.000209693411685</float> | |
</min> | |
<max> | |
<float>3.00000701530499</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst6" axis="kmodel0/middle_dof1_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-8.000209693411685</float> | |
</min> | |
<max> | |
<float>3.00000701530499</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst7" axis="kmodel0/middle_dof2_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-114.5915590261646</float> | |
</min> | |
<max> | |
<float>114.5915590261646</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst8" axis="kmodel0/middle_dof3_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-114.5915590261646</float> | |
</min> | |
<max> | |
<float>114.5915590261646</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst9" axis="kmodel0/middle_dof4_joint/axis0"> | |
<active> | |
<bool>false</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>0</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst10" axis="kmodel0/pinky_dof0_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-8.000209693411685</float> | |
</min> | |
<max> | |
<float>3.00000701530499</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst11" axis="kmodel0/pinky_dof1_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-8.000209693411685</float> | |
</min> | |
<max> | |
<float>3.00000701530499</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst12" axis="kmodel0/pinky_dof2_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-90.00021045914971</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst13" axis="kmodel0/pinky_dof3_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-99.99832398418258</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst14" axis="kmodel0/pinky_dof4_joint/axis0"> | |
<active> | |
<bool>false</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>0</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst15" axis="kmodel0/ring_dof0_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-8.000209693411685</float> | |
</min> | |
<max> | |
<float>3.00000701530499</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst16" axis="kmodel0/ring_dof1_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-8.000209693411685</float> | |
</min> | |
<max> | |
<float>3.00000701530499</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst17" axis="kmodel0/ring_dof2_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-99.99832398418258</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst18" axis="kmodel0/ring_dof3_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-99.99832398418258</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst19" axis="kmodel0/ring_dof4_joint/axis0"> | |
<active> | |
<bool>false</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>0</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst20" axis="kmodel0/thumb_dof0_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-99.99832398418258</float> | |
</min> | |
<max> | |
<float>39.99990255146816</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst21" axis="kmodel0/thumb_dof1_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-46.99972793458143</float> | |
</min> | |
<max> | |
<float>30.0000701530499</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst22" axis="kmodel0/thumb_dof2_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-90.00021045914971</float> | |
</min> | |
<max> | |
<float>0</float> | |
</max> | |
</limits> | |
</axis_info> | |
<axis_info sid="axis_info_inst23" axis="kmodel0/thumb_dof3_joint/axis0"> | |
<active> | |
<bool>true</bool> | |
</active> | |
<locked> | |
<bool>false</bool> | |
</locked> | |
<limits> | |
<min> | |
<float>-90.00021045914971</float> | |
</min> | |
<max> | |
<float>20.00023775463164</float> | |
</max> | |
</limits> | |
</axis_info> | |
</technique_common> | |
</kinematics> | |
</articulated_system> | |
</library_articulated_systems> | |
<library_kinematics_scenes id="kscenes"> | |
<kinematics_scene id="kscene" name="URDF Kinematics Scene"> | |
<instance_articulated_system sid="robot0_motion_inst" url="#robot0_motion" name="human_hand"> | |
<bind symbol="kscene_kmodel0_inst"> | |
<param ref="robot0_motion/robot0_motion_kmodel0_inst"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0"/> | |
</bind> | |
<bind symbol="kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value"> | |
<param ref="robot0_motion/robot0_motion_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value"/> | |
</bind> | |
</instance_articulated_system> | |
</kinematics_scene> | |
</library_kinematics_scenes> | |
<library_physics_scenes id="pscenes"> | |
<physics_scene id="pscene" name="URDF Physics Scene"> | |
<instance_physics_model url="#pmodel0" sid="pmodel0_inst" parent="#visual0"> | |
<instance_rigid_body body="rigid0" target="#vkmodel0_node0"/> | |
<instance_rigid_body body="rigid1" target="#vkmodel0_node1"/> | |
<instance_rigid_body body="rigid2" target="#vkmodel0_node2"/> | |
<instance_rigid_body body="rigid3" target="#vkmodel0_node3"/> | |
<instance_rigid_body body="rigid4" target="#vkmodel0_node4"/> | |
<instance_rigid_body body="rigid5" target="#vkmodel0_node5"/> | |
<instance_rigid_body body="rigid6" target="#vkmodel0_node6"/> | |
<instance_rigid_body body="rigid7" target="#vkmodel0_node7"/> | |
<instance_rigid_body body="rigid8" target="#vkmodel0_node8"/> | |
<instance_rigid_body body="rigid9" target="#vkmodel0_node9"/> | |
<instance_rigid_body body="rigid10" target="#vkmodel0_node10"/> | |
<instance_rigid_body body="rigid11" target="#vkmodel0_node11"/> | |
<instance_rigid_body body="rigid12" target="#vkmodel0_node12"/> | |
<instance_rigid_body body="rigid13" target="#vkmodel0_node13"/> | |
<instance_rigid_body body="rigid14" target="#vkmodel0_node14"/> | |
<instance_rigid_body body="rigid15" target="#vkmodel0_node15"/> | |
<instance_rigid_body body="rigid16" target="#vkmodel0_node16"/> | |
<instance_rigid_body body="rigid17" target="#vkmodel0_node17"/> | |
<instance_rigid_body body="rigid18" target="#vkmodel0_node18"/> | |
<instance_rigid_body body="rigid19" target="#vkmodel0_node19"/> | |
<instance_rigid_body body="rigid20" target="#vkmodel0_node20"/> | |
<instance_rigid_body body="rigid21" target="#vkmodel0_node21"/> | |
<instance_rigid_body body="rigid22" target="#vkmodel0_node22"/> | |
<instance_rigid_body body="rigid23" target="#vkmodel0_node23"/> | |
<instance_rigid_body body="rigid24" target="#vkmodel0_node24"/> | |
</instance_physics_model> | |
<technique_common> | |
<gravity>0 0 0</gravity> | |
</technique_common> | |
</physics_scene> | |
</library_physics_scenes> | |
<library_physics_models id="pmodels"> | |
<physics_model id="pmodel0" name="human_hand"> | |
<rigid_body sid="rigid0" name="ahand_palm_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid1" name="index_dof0_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid2" name="index_dof1_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid3" name="index_dof2_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid4" name="index_dof3_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid5" name="index_dof4_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid6" name="middle_dof0_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid7" name="middle_dof1_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid8" name="middle_dof2_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid9" name="middle_dof3_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid10" name="middle_dof4_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid11" name="pinky_dof0_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid12" name="pinky_dof1_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid13" name="pinky_dof2_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid14" name="pinky_dof3_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid15" name="pinky_dof4_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid16" name="ring_dof0_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid17" name="ring_dof1_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid18" name="ring_dof2_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid19" name="ring_dof3_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid20" name="ring_dof4_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid21" name="thumb_dof0_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid22" name="thumb_dof1_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid23" name="thumb_dof2_link"> | |
<technique_common/> | |
</rigid_body> | |
<rigid_body sid="rigid24" name="thumb_dof3_link"> | |
<technique_common/> | |
</rigid_body> | |
</physics_model> | |
</library_physics_models> | |
<scene> | |
<instance_physics_scene url="#pscene"/> | |
<instance_visual_scene url="#vscene"/> | |
<instance_kinematics_scene url="#kscene"> | |
<bind_kinematics_model node="visual0/node0"> | |
<param>kscene_kmodel0_inst</param> | |
</bind_kinematics_model> | |
<bind_joint_axis target="node1/node_index_dof0_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof0_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node2/node_index_dof1_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof1_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node1/node3/node_index_dof2_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof2_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node1/node2/node4/node_index_dof3_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof3_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node1/node2/node3/node5/node_index_dof4_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_index_dof4_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node6/node_middle_dof0_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof0_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node7/node_middle_dof1_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof1_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node6/node8/node_middle_dof2_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof2_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node6/node7/node9/node_middle_dof3_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof3_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node6/node7/node8/node10/node_middle_dof4_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_middle_dof4_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node11/node_pinky_dof0_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof0_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node12/node_pinky_dof1_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof1_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node11/node13/node_pinky_dof2_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof2_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node11/node12/node14/node_pinky_dof3_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof3_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node11/node12/node13/node15/node_pinky_dof4_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_pinky_dof4_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node16/node_ring_dof0_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof0_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node17/node_ring_dof1_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof1_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node16/node18/node_ring_dof2_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof2_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node16/node17/node19/node_ring_dof3_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof3_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node16/node17/node18/node20/node_ring_dof4_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_ring_dof4_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node21/node_thumb_dof0_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof0_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node22/node_thumb_dof1_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof1_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node21/node23/node_thumb_dof2_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof2_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
<bind_joint_axis target="node0/node21/node22/node24/node_thumb_dof3_joint_axis0"> | |
<axis> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0</param> | |
</axis> | |
<value> | |
<param>kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_thumb_dof3_joint_axis0_value</param> | |
</value> | |
</bind_joint_axis> | |
</instance_kinematics_scene> | |
</scene> | |
<extra id="sensors" type="library_sensors"> | |
<technique profile="OpenRAVE"/> | |
</extra> | |
</COLLADA> |
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