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- name=""> \r
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- <mimic joint="middle_j1" multiplier="1" offset="0" /> \r
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- name="middle_l3"> \r
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- <origin \r
- xyz="0.0099715 0.00045399 -2.4729E-07" \r
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- filename="package://miitzhand_description/meshes/middle_l3.stl" /> \r
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- <material \r
- name=""> \r
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- rgba="1 1 1 1" /> \r
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- xyz="0 0 0" \r
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- filename="package://miitzhand_description/meshes/middle_l3.stl" /> \r
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- name="middle_j3" \r
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- xyz="0.021926 0.00020303 8.9303E-08" \r
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- filename="package://miitzhand_description/meshes/index_l1.stl" /> \r
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- name=""> \r
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- xyz="0 0 0" \r
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- filename="package://miitzhand_description/meshes/index_l1.stl" /> \r
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- name="index_l2"> \r
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- xyz="0.010872 0.00039808 1.071E-06" \r
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- filename="package://miitzhand_description/meshes/index_l2.stl" /> \r
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- name=""> \r
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- rgba="1 1 1 1" /> \r
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- xyz="0 0 0" \r
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- filename="package://miitzhand_description/meshes/index_l2.stl" /> \r
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- <mimic joint="index_j1" multiplier="1" offset="0" /> \r
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- name="index_l3"> \r
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- <origin \r
- xyz="0.0099715 0.00045399 -2.4634E-07" \r
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- ixx="1.7179E-07" \r
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- ixz="7.6038E-12" \r
- iyy="4.632E-07" \r
- iyz="-6.3738E-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/index_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/index_l3.stl" /> \r
- </geometry> \r
- </collision> \r
- </link> \r
- <joint \r
- name="index_j3" \r
- type="revolute"> \r
- <origin \r
- xyz="0.0267 0 0" \r
- rpy="9.9799E-16 3.4694E-18 -2.1684E-19" /> \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="-3.496E-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="4.2008E-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 1.9249E-05 -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 -1.2849E-14" /> \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="0.021926 0.00020302 9.6353E-08"
+ rpy="0 0 0" />
+ <mass
+ value="0.010346" />
+ <inertia
+ ixx="4.6802E-07"
+ ixy="5.726E-08"
+ ixz="1.4761E-11"
+ iyy="2.4622E-06"
+ iyz="4.7237E-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="0.003 0.04062 0.11977"
+ rpy="-0.034907 -1.4835 1.5708" />
+ <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="0.010872 0.00039672 4.7668E-06"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052657" />
+ <inertia
+ ixx="2.3451E-07"
+ ixy="2.5431E-08"
+ ixz="-2.1744E-11"
+ iyy="6.3027E-07"
+ iyz="2.6048E-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 0"
+ rpy="1.9727E-16 0 -4.3368E-19" />
+ <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="0.0099715 0.00045399 -2.4744E-07"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="1.7179E-07"
+ ixy="2.5186E-08"
+ ixz="7.6349E-12"
+ iyy="4.632E-07"
+ iyz="-6.3855E-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 0"
+ rpy="7.2967E-17 0 -4.3368E-19" />
+ <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="0.021926 0.00020302 9.349E-08"
+ rpy="0 0 0" />
+ <mass
+ value="0.010346" />
+ <inertia
+ ixx="4.6802E-07"
+ ixy="5.726E-08"
+ ixz="1.4301E-11"
+ iyy="2.4622E-06"
+ iyz="4.7323E-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 0.017716 0.12886"
+ rpy="1.3656E-08 -1.5359 1.5708" />
+ <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="0.010872 0.00039795 1.1259E-06"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052659" />
+ <inertia
+ ixx="2.3451E-07"
+ ixy="2.5367E-08"
+ ixz="4.1433E-11"
+ iyy="6.303E-07"
+ iyz="1.167E-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="-4.545E-16 0 -1.034E-25" />
+ <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="0.0099715 0.00045398 -2.4944E-07"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="1.7179E-07"
+ ixy="2.5186E-08"
+ ixz="7.604E-12"
+ iyy="4.632E-07"
+ iyz="-6.3764E-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="3.296E-16 0 1.034E-25" />
+ <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="0.021926 0.00020303 9.1214E-08"
+ rpy="0 0 0" />
+ <mass
+ value="0.010346" />
+ <inertia
+ ixx="4.6802E-07"
+ ixy="5.7259E-08"
+ ixz="1.3936E-11"
+ iyy="2.4622E-06"
+ iyz="4.7436E-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="-0.003 -0.007 0.1285"
+ rpy="1.5097 -1.5708 0" />
+ <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="0.010872 0.00039802 1.0929E-06"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052658" />
+ <inertia
+ ixx="2.345E-07"
+ ixy="2.5369E-08"
+ ixz="4.0562E-11"
+ iyy="6.303E-07"
+ iyz="1.133E-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 0"
+ rpy="9.7145E-17 2.4652E-32 0" />
+ <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="0.0099715 0.00045399 -2.4729E-07"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="1.7179E-07"
+ ixy="2.5186E-08"
+ ixz="7.5922E-12"
+ iyy="4.632E-07"
+ iyz="-6.3732E-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 0"
+ rpy="2.7062E-16 2.4652E-32 0" />
+ <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="0.021926 0.00020303 8.9303E-08"
+ rpy="0 0 0" />
+ <mass
+ value="0.010346" />
+ <inertia
+ ixx="4.6802E-07"
+ ixy="5.7259E-08"
+ ixz="1.3617E-11"
+ iyy="2.4622E-06"
+ iyz="4.7436E-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="-3.0402 -1.5533 -1.5708" />
+ <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="0.010872 0.00039808 1.071E-06"
+ rpy="0 0 0" />
+ <mass
+ value="0.0052658" />
+ <inertia
+ ixx="2.345E-07"
+ ixy="2.5371E-08"
+ ixz="4.0061E-11"
+ iyy="6.303E-07"
+ iyz="1.1054E-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="2.0664E-16 0 0" />
+ <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="0.0099715 0.00045399 -2.4634E-07"
+ rpy="0 0 0" />
+ <mass
+ value="0.0049969" />
+ <inertia
+ ixx="1.7179E-07"
+ ixy="2.5186E-08"
+ ixz="7.6038E-12"
+ iyy="4.632E-07"
+ iyz="-6.3738E-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 0"
+ rpy="9.9799E-16 3.4694E-18 -2.1684E-19" />
+ <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="-3.496E-16 0.021473 -0.015879"
+ rpy="0 0 0" />
+ <mass
+ value="0.0091302" />
+ <inertia
+ ixx="1.8031E-06"
+ ixy="4.0034E-14"
+ ixz="4.2008E-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 1.9249E-05 -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 -1.2849E-14" />
+ <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