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- name="index_j3"\r
- type="revolute">\r
- <origin\r
- xyz="0.0267 0 -7.9919E-05"\r
- rpy="1.0595E-15 -1.7243E-15 -0.062827" />\r
- <parent\r
- link="index_l2" />\r
- <child\r
- link="index_l3" />\r
- <axis\r
- xyz="0 0 -1" />\r
- <limit\r
- lower="-1.57"\r
- upper="0"\r
- effort="0.37"\r
- velocity="5.61" />\r
- <mimic joint="index_j1" multiplier="1" offset="0" />\r
- </joint>\r
- <link\r
- name="thumb_l1">\r
- <inertial>\r
- <origin\r
- xyz="-3.4971E-16 0.021473 -0.015879"\r
- rpy="0 0 0" />\r
- <mass\r
- value="0.0091302" />\r
- <inertia\r
- ixx="1.8031E-06"\r
- ixy="4.0034E-14"\r
- ixz="4.2116E-21"\r
- iyy="6.4629E-07"\r
- iyz="-2.8188E-07"\r
- izz="1.5763E-06" />\r
- </inertial>\r
- <visual>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/thumb_l1.stl" />\r
- </geometry>\r
- <material\r
- name="">\r
- <color\r
- rgba="1 1 1 1" />\r
- </material>\r
- </visual>\r
- <collision>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/thumb_l1.stl" />\r
- </geometry>\r
- </collision>\r
- </link>\r
- <joint\r
- name="thumb_j1"\r
- type="revolute">\r
- <origin\r
- xyz="-0.00034464 -0.043575 0.070929"\r
- rpy="-0.69813 -6.796E-15 -3.1416" />\r
- <parent\r
- link="base_link" />\r
- <child\r
- link="thumb_l1" />\r
- <axis\r
- xyz="0 0 1" />\r
- <limit\r
- lower="0"\r
- upper="1.57"\r
- effort="0.37"\r
- velocity="5.61" />\r
- </joint>\r
- <link\r
- name="thumb_l2">\r
- <inertial>\r
- <origin\r
- xyz="0.021926 0.00020302 9.7353E-08"\r
- rpy="0 0 0" />\r
- <mass\r
- value="0.010346" />\r
- <inertia\r
- ixx="4.6802E-07"\r
- ixy="5.726E-08"\r
- ixz="1.5393E-11"\r
- iyy="2.4622E-06"\r
- iyz="4.7897E-11"\r
- izz="2.4327E-06" />\r
- </inertial>\r
- <visual>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/thumb_l2.stl" />\r
- </geometry>\r
- <material\r
- name="">\r
- <color\r
- rgba="1 1 1 1" />\r
- </material>\r
- </visual>\r
- <collision>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/thumb_l2.stl" />\r
- </geometry>\r
- </collision>\r
- </link>\r
- <joint\r
- name="thumb_j2"\r
- type="revolute">\r
- <origin\r
- xyz="0 0.03 0"\r
- rpy="1.5708 -1.5708 0" />\r
- <parent\r
- link="thumb_l1" />\r
- <child\r
- link="thumb_l2" />\r
- <axis\r
- xyz="0 0 -1" />\r
- <limit\r
- lower="-1.57"\r
- upper="0"\r
- effort="0.37"\r
- velocity="5.61" />\r
- </joint>\r
- <link\r
- name="thumb_l3">\r
- <inertial>\r
- <origin\r
- xyz="0.0099715 0.00045398 -2.5524E-07"\r
- rpy="0 0 0" />\r
- <mass\r
- value="0.004997" />\r
- <inertia\r
- ixx="1.7179E-07"\r
- ixy="2.5186E-08"\r
- ixz="7.6937E-12"\r
- iyy="4.632E-07"\r
- iyz="-6.3833E-11"\r
- izz="4.9237E-07" />\r
- </inertial>\r
- <visual>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/thumb_l3.stl" />\r
- </geometry>\r
- <material\r
- name="">\r
- <color\r
- rgba="1 1 1 1" />\r
- </material>\r
- </visual>\r
- <collision>\r
- <origin\r
- xyz="0 0 0"\r
- rpy="0 0 0" />\r
- <geometry>\r
- <mesh\r
- filename="package://miitzhand_description/meshes/thumb_l3.stl" />\r
- </geometry>\r
- </collision>\r
- </link>\r
- <joint\r
- name="thumb_j3"\r
- type="revolute">\r
- <origin\r
- xyz="0.047 0 0"\r
- rpy="1.9249E-05 -1.4988E-15 -4.8418E-15" />\r
- <parent\r
- link="thumb_l2" />\r
- <child\r
- link="thumb_l3" />\r
- <axis\r
- xyz="0 0 -1" />\r
- <limit\r
- lower="-1.57"\r
- upper="0"\r
- effort="0.37"\r
- velocity="5.61" />\r
- <mimic joint="thumb_j2" multiplier="1" offset="0" />\r
- </joint>\r
-\r
-<transmission name="thumb1_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="thumb_j1">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="thumb1_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<transmission name="thumb2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="thumb_j2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="thumb2_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<transmission name="thumb3_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="thumb_j3">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="thumb3_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<gazebo>\r
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
- <joint>thumb_j3</joint>\r
- <mimicJoint>thumb_j2</mimicJoint>\r
- <multiplier>1.0</multiplier>\r
- <offset>0.0</offset>\r
- <maxEffort>30.0</maxEffort>\r
- <sensitiveness>0.0</sensitiveness>\r
- </plugin>\r
-</gazebo>\r
-\r
-<transmission name="index1_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="index_j1">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="index1_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<transmission name="index2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="index_j2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="index2_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<gazebo>\r
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
- <joint>index_j2</joint>\r
- <mimicJoint>index_j1</mimicJoint>\r
- <multiplier>1.0</multiplier>\r
- <offset>0.0</offset>\r
- <maxEffort>30.0</maxEffort>\r
- <sensitiveness>0.0</sensitiveness>\r
- </plugin>\r
-</gazebo>\r
-\r
-<transmission name="index3_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="index_j3">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="index3_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<gazebo>\r
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
- <joint>index_j3</joint>\r
- <mimicJoint>index_j1</mimicJoint>\r
- <multiplier>1.0</multiplier>\r
- <offset>0.0</offset>\r
- <maxEffort>30.0</maxEffort>\r
- <sensitiveness>0.0</sensitiveness>\r
- </plugin>\r
-</gazebo>\r
-\r
-<transmission name="middle1_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="middle_j1">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="middle1_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<transmission name="middle2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="middle_j2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="middle2_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<gazebo>\r
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
- <joint>middle_j2</joint>\r
- <mimicJoint>middle_j1</mimicJoint>\r
- <multiplier>1.0</multiplier>\r
- <offset>0.0</offset>\r
- <maxEffort>30.0</maxEffort>\r
- <sensitiveness>0.0</sensitiveness>\r
- </plugin>\r
-</gazebo>\r
-\r
-<transmission name="middle3_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="middle_j3">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="middle3_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<gazebo>\r
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
- <joint>middle_j3</joint>\r
- <mimicJoint>middle_j1</mimicJoint>\r
- <multiplier>1.0</multiplier>\r
- <offset>0.0</offset>\r
- <maxEffort>30.0</maxEffort>\r
- <sensitiveness>0.0</sensitiveness>\r
- </plugin>\r
-</gazebo>\r
-\r
-<transmission name="ring1_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="ring_j1">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="ring1_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<transmission name="ring2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="ring_j2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="ring2_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<gazebo>\r
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
- <joint>ring_j2</joint>\r
- <mimicJoint>ring_j1</mimicJoint>\r
- <multiplier>1.0</multiplier>\r
- <offset>0.0</offset>\r
- <maxEffort>30.0</maxEffort>\r
- <sensitiveness>0.0</sensitiveness>\r
- </plugin>\r
-</gazebo>\r
-\r
-<transmission name="ring3_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="ring_j3">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="ring3_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<gazebo>\r
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
- <joint>ring_j3</joint>\r
- <mimicJoint>ring_j1</mimicJoint>\r
- <multiplier>1.0</multiplier>\r
- <offset>0.0</offset>\r
- <maxEffort>30.0</maxEffort>\r
- <sensitiveness>0.0</sensitiveness>\r
- </plugin>\r
-</gazebo>\r
-\r
-<transmission name="little1_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="little_j1">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="little1_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<transmission name="little2_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="little_j2">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="little2_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<gazebo>\r
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
- <joint>little_j2</joint>\r
- <mimicJoint>little_j1</mimicJoint>\r
- <multiplier>1.0</multiplier>\r
- <offset>0.0</offset>\r
- <maxEffort>30.0</maxEffort>\r
- <sensitiveness>0.0</sensitiveness>\r
- </plugin>\r
-</gazebo>\r
-\r
-<transmission name="little3_transmission">\r
- <type>transmission_interface/SimpleTransmission</type>\r
- <joint name="little_j3">\r
- <hardwareInterface>EffortJointInterface</hardwareInterface>\r
- </joint>\r
- <actuator name="little3_motor">\r
- <mechanicalReduction>1.87</mechanicalReduction>\r
- </actuator>\r
-</transmission>\r
-\r
-<gazebo>\r
- <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">\r
- <joint>little_j3</joint>\r
- <mimicJoint>little_j1</mimicJoint>\r
- <multiplier>1.0</multiplier>\r
- <offset>0.0</offset>\r
- <maxEffort>30.0</maxEffort>\r
- <sensitiveness>0.0</sensitiveness>\r
- </plugin>\r
-</gazebo>\r
-\r
-<gazebo>\r
- <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">\r
- <robotNamespace>/miitzhand</robotNamespace>\r
- <controlPeriod>0.001</controlPeriod>\r
- <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>\r
- </plugin>\r
-</gazebo>\r
-</robot>\r
+<robot
+ name="miitzhand">
+<link
+ name="world"/>
+ <link
+ name="origin_link"/>
+ <joint name="origin_joint" type="fixed" >
+ <parent link="world"/>
+ <child link="origin_link"/>
+ </joint>
+ <link
+ name="base_link">
+ <inertial>
+ <origin
+ xyz="-0.00037433 0.0019683 0.070254"
+ rpy="0 0 0" />
+ <mass
+ value="0.16419" />
+ <inertia
+ ixx="0.00024692"
+ ixy="-3.8095E-06"
+ ixz="1.5276E-06"
+ iyy="0.00015647"
+ iyz="-1.4218E-06"
+ izz="0.00010717" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/base_link.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/base_link.stl" />
+ </geometry>
+ </collision>
+ </link>
+<joint name="base_joint" type="fixed" >
+ <parent link="origin_link"/>
+ <child link="base_link"/>
+</joint>
+ <link
+ name="little_l1">
+ <inertial>
+ <origin
+ xyz="0.02191 -0.00087244 8.9868E-05"
+ rpy="0 0 0" />
+ <mass
+ value="0.010346" />
+ <inertia
+ ixx="4.7843E-07"
+ ixy="1.5466E-07"
+ ixz="1.706E-11"
+ iyy="2.4518E-06"
+ iyz="4.6456E-11"
+ izz="2.4327E-06" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/little_l1.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/little_l1.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="little_j1"
+ type="revolute">
+ <origin
+ xyz="0.0030031 0.04071 0.11976"
+ rpy="-0.53727 -1.4692 2.0753" />
+ <parent
+ link="base_link" />
+ <child
+ link="little_l1" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ </joint>
+ <link
+ name="little_l2">
+ <inertial>
+ <origin
+ xyz="0.010817 -0.0024647 4.7668E-06"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052657" />
+ <inertia
+ ixx="2.3814E-07"
+ ixy="4.5521E-08"
+ ixz="-8.3876E-12"
+ iyy="6.2663E-07"
+ iyz="2.6126E-10"
+ izz="6.1275E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/little_l2.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/little_l2.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="little_j2"
+ type="revolute">
+ <origin
+ xyz="0.047 0 8.7389E-05"
+ rpy="1.9082E-16 -1.8041E-16 0.0021314" />
+ <parent
+ link="little_l1" />
+ <child
+ link="little_l2" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ <mimic joint="little_j1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="little_l3">
+ <inertial>
+ <origin
+ xyz="0.0096346 -0.0043345 1.7082E-05"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="1.8118E-07"
+ ixy="5.729E-08"
+ ixz="3.6348E-13"
+ iyy="4.5381E-07"
+ iyz="-6.4309E-11"
+ izz="4.9237E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/little_l3.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/little_l3.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="little_j3"
+ type="revolute">
+ <origin
+ xyz="0.0267 0 -1.4947E-05"
+ rpy="7.4593E-17 -9.7145E-17 0.062159" />
+ <parent
+ link="little_l2" />
+ <child
+ link="little_l3" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ <mimic joint="little_j1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="ring_l1">
+ <inertial>
+ <origin
+ xyz="0.021843 -0.0019146 2.9598E-05"
+ rpy="0 0 0" />
+ <mass
+ value="0.010346" />
+ <inertia
+ ixx="4.9761E-07"
+ ixy="2.4781E-07"
+ ixz="1.8803E-11"
+ iyy="2.4327E-06"
+ iyz="4.5721E-11"
+ izz="2.4327E-06" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/ring_l1.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/ring_l1.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="ring_j1"
+ type="revolute">
+ <origin
+ xyz="-0.003 0.017746 0.12886"
+ rpy="-1.2237 -1.468 2.7962" />
+ <parent
+ link="base_link" />
+ <child
+ link="ring_l1" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ </joint>
+ <link
+ name="ring_l2">
+ <inertial>
+ <origin
+ xyz="0.010849 -0.0047389 3.1967E-05"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052659" />
+ <inertia
+ ixx="2.3845E-07"
+ ixy="4.6802E-08"
+ ixz="4.7745E-11"
+ iyy="6.2635E-07"
+ iyz="1.1426E-10"
+ izz="6.1276E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/ring_l2.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/ring_l2.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="ring_j2"
+ type="revolute">
+ <origin
+ xyz="0.047 0 0"
+ rpy="-3.8229E-16 1.3461E-15 -0.04204" />
+ <parent
+ link="ring_l1" />
+ <child
+ link="ring_l2" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ <mimic joint="ring_j1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="ring_l3">
+ <inertial>
+ <origin
+ xyz="0.009579 -0.0066047 2.1133E-05"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="1.8049E-07"
+ ixy="5.5619E-08"
+ ixz="7.3564E-13"
+ iyy="4.545E-07"
+ iyz="-6.4212E-11"
+ izz="4.9237E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/ring_l3.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/ring_l3.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="ring_j3"
+ type="revolute">
+ <origin
+ xyz="0.0267 0 0"
+ rpy="3.1268E-16 -1.7347E-16 0.052588" />
+ <parent
+ link="ring_l2" />
+ <child
+ link="ring_l3" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ <mimic joint="ring_j1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="middle_l1">
+ <inertial>
+ <origin
+ xyz="0.021837 -0.0019855 2.3889E-05"
+ rpy="0 0 0" />
+ <mass
+ value="0.010346" />
+ <inertia
+ ixx="4.9924E-07"
+ ixy="2.5408E-07"
+ ixz="1.8598E-11"
+ iyy="2.431E-06"
+ iyz="4.5809E-11"
+ izz="2.4327E-06" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/middle_l1.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/middle_l1.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="middle_j1"
+ type="revolute">
+ <origin
+ xyz="-0.0030015 -0.0069762 0.1285"
+ rpy="-1.5708 -1.4709 -3.0805" />
+ <parent
+ link="base_link" />
+ <child
+ link="middle_l1" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ </joint>
+ <link
+ name="middle_l2">
+ <inertial>
+ <origin
+ xyz="0.011077 -0.004368 4.8908E-06"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052658" />
+ <inertia
+ ixx="2.3488E-07"
+ ixy="2.8117E-08"
+ ixz="4.1349E-11"
+ iyy="6.2993E-07"
+ iyz="1.1302E-10"
+ izz="6.1276E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/middle_l2.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/middle_l2.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="middle_j2"
+ type="revolute">
+ <origin
+ xyz="0.047 0 2E-05"
+ rpy="1.0327E-16 -5.9896E-17 -0.092983" />
+ <parent
+ link="middle_l1" />
+ <child
+ link="middle_l2" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ <mimic joint="middle_j1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="middle_l3">
+ <inertial>
+ <origin
+ xyz="0.010205 -0.0044243 -1.6449E-05"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="1.7181E-07"
+ ixy="2.5294E-08"
+ ixz="7.5687E-12"
+ iyy="4.6318E-07"
+ iyz="-6.3735E-11"
+ izz="4.9237E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/middle_l3.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/middle_l3.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="middle_j3"
+ type="revolute">
+ <origin
+ xyz="0.0267 0 2E-05"
+ rpy="2.706E-16 -1.6909E-16 -0.0065785" />
+ <parent
+ link="middle_l2" />
+ <child
+ link="middle_l3" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ <mimic joint="middle_j1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="index_l1">
+ <inertial>
+ <origin
+ xyz="0.021895 -0.0011835 8.9303E-08"
+ rpy="0 0 0" />
+ <mass
+ value="0.010346" />
+ <inertia
+ ixx="4.8322E-07"
+ ixy="1.8262E-07"
+ ixz="1.6588E-11"
+ iyy="2.447E-06"
+ iyz="4.648E-11"
+ izz="2.4327E-06" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/index_l1.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/index_l1.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="index_j1"
+ type="revolute">
+ <origin
+ xyz="0 -0.030847 0.12828"
+ rpy="-1.8319 -1.5035 -2.7796" />
+ <parent
+ link="base_link" />
+ <child
+ link="index_l1" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ </joint>
+ <link
+ name="index_l2">
+ <inertial>
+ <origin
+ xyz="0.010822 -0.0031266 1.071E-06"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052658" />
+ <inertia
+ ixx="2.381E-07"
+ ixy="4.5311E-08"
+ ixz="4.5623E-11"
+ iyy="6.267E-07"
+ iyz="1.0837E-10"
+ izz="6.1275E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/index_l2.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/index_l2.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="index_j2"
+ type="revolute">
+ <origin
+ xyz="0.047 0 0"
+ rpy="1.7683E-16 -2.7756E-17 -0.012461" />
+ <parent
+ link="index_l1" />
+ <child
+ link="index_l2" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ <mimic joint="index_j1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="index_l3">
+ <inertial>
+ <origin
+ xyz="0.010146 -0.0037511 7.9672E-05"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="1.7123E-07"
+ ixy="2.1673E-08"
+ ixz="8.37E-12"
+ iyy="4.6376E-07"
+ iyz="-6.3642E-11"
+ izz="4.9237E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/index_l3.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/index_l3.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="index_j3"
+ type="revolute">
+ <origin
+ xyz="0.0267 0 -7.9919E-05"
+ rpy="1.0595E-15 -1.7243E-15 -0.062827" />
+ <parent
+ link="index_l2" />
+ <child
+ link="index_l3" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ <mimic joint="index_j1" multiplier="1" offset="0" />
+ </joint>
+ <link
+ name="thumb_l1">
+ <inertial>
+ <origin
+ xyz="-3.4971E-16 0.021473 -0.015879"
+ rpy="0 0 0" />
+ <mass
+ value="0.0091302" />
+ <inertia
+ ixx="1.8031E-06"
+ ixy="4.0034E-14"
+ ixz="4.2116E-21"
+ iyy="6.4629E-07"
+ iyz="-2.8188E-07"
+ izz="1.5763E-06" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/thumb_l1.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/thumb_l1.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="thumb_j1"
+ type="revolute">
+ <origin
+ xyz="-0.00034464 -0.043575 0.070929"
+ rpy="-0.69813 -6.796E-15 -3.1416" />
+ <parent
+ link="base_link" />
+ <child
+ link="thumb_l1" />
+ <axis
+ xyz="0 0 1" />
+ <limit
+ lower="0"
+ upper="1.57"
+ effort="0.37"
+ velocity="5.61" />
+ </joint>
+ <link
+ name="thumb_l2">
+ <inertial>
+ <origin
+ xyz="0.021926 0.00020302 9.7353E-08"
+ rpy="0 0 0" />
+ <mass
+ value="0.010346" />
+ <inertia
+ ixx="4.6802E-07"
+ ixy="5.726E-08"
+ ixz="1.5393E-11"
+ iyy="2.4622E-06"
+ iyz="4.7897E-11"
+ izz="2.4327E-06" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/thumb_l2.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/thumb_l2.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="thumb_j2"
+ type="revolute">
+ <origin
+ xyz="0 0.03 0"
+ rpy="1.5708 -1.5708 0" />
+ <parent
+ link="thumb_l1" />
+ <child
+ link="thumb_l2" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ </joint>
+ <link
+ name="thumb_l3">
+ <inertial>
+ <origin
+ xyz="0.0099715 0.00045398 -2.5524E-07"
+ rpy="0 0 0" />
+ <mass
+ value="0.004997" />
+ <inertia
+ ixx="1.7179E-07"
+ ixy="2.5186E-08"
+ ixz="7.6937E-12"
+ iyy="4.632E-07"
+ iyz="-6.3833E-11"
+ izz="4.9237E-07" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/thumb_l3.stl" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="1 1 1 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://miitzhand_description/meshes/thumb_l3.stl" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="thumb_j3"
+ type="revolute">
+ <origin
+ xyz="0.047 0 0"
+ rpy="1.9249E-05 -1.4988E-15 -4.8418E-15" />
+ <parent
+ link="thumb_l2" />
+ <child
+ link="thumb_l3" />
+ <axis
+ xyz="0 0 -1" />
+ <limit
+ lower="-1.57"
+ upper="0"
+ effort="0.37"
+ velocity="5.61" />
+ <mimic joint="thumb_j2" multiplier="1" offset="0" />
+ </joint>
+
+<transmission name="thumb1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="thumb_j1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="thumb1_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<transmission name="thumb2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="thumb_j2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="thumb2_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<transmission name="thumb3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="thumb_j3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="thumb3_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>thumb_j3</joint>
+ <mimicJoint>thumb_j2</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffort>30.0</maxEffort>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+</gazebo>
+
+<transmission name="index1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="index_j1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="index1_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<transmission name="index2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="index_j2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="index2_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>index_j2</joint>
+ <mimicJoint>index_j1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffort>30.0</maxEffort>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+</gazebo>
+
+<transmission name="index3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="index_j3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="index3_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>index_j3</joint>
+ <mimicJoint>index_j1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffort>30.0</maxEffort>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+</gazebo>
+
+<transmission name="middle1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="middle_j1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="middle1_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<transmission name="middle2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="middle_j2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="middle2_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>middle_j2</joint>
+ <mimicJoint>middle_j1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffort>30.0</maxEffort>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+</gazebo>
+
+<transmission name="middle3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="middle_j3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="middle3_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>middle_j3</joint>
+ <mimicJoint>middle_j1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffort>30.0</maxEffort>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+</gazebo>
+
+<transmission name="ring1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="ring_j1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="ring1_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<transmission name="ring2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="ring_j2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="ring2_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>ring_j2</joint>
+ <mimicJoint>ring_j1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffort>30.0</maxEffort>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+</gazebo>
+
+<transmission name="ring3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="ring_j3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="ring3_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>ring_j3</joint>
+ <mimicJoint>ring_j1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffort>30.0</maxEffort>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+</gazebo>
+
+<transmission name="little1_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="little_j1">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="little1_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<transmission name="little2_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="little_j2">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="little2_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>little_j2</joint>
+ <mimicJoint>little_j1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffort>30.0</maxEffort>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+</gazebo>
+
+<transmission name="little3_transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="little_j3">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="little3_motor">
+ <mechanicalReduction>1.87</mechanicalReduction>
+ </actuator>
+</transmission>
+
+<gazebo>
+ <plugin name="mimic_plugin" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+ <joint>little_j3</joint>
+ <mimicJoint>little_j1</mimicJoint>
+ <multiplier>1.0</multiplier>
+ <offset>0.0</offset>
+ <maxEffort>30.0</maxEffort>
+ <sensitiveness>0.0</sensitiveness>
+ </plugin>
+</gazebo>
+
+<gazebo>
+ <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+ <robotNamespace>/miitzhand</robotNamespace>
+ <controlPeriod>0.001</controlPeriod>
+ <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+ </plugin>
+</gazebo>
+</robot>
projects / users / gschmitz / miitzhand.git / commitdiff