diff --git a/robots/allegro_hand_description/urdf/allegro_left_hand.urdf b/robots/allegro_hand_description/urdf/allegro_left_hand.urdf
index ddcd10693b2a9d69cac2c75de8627bc5445fdecc..7d55683acc8fe0f10826ad80ed6d3731ff7b7732 100644
--- a/robots/allegro_hand_description/urdf/allegro_left_hand.urdf
+++ b/robots/allegro_hand_description/urdf/allegro_left_hand.urdf
@@ -4,33 +4,21 @@
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="allegro_hand_left" xmlns:xacro="http://www.ros.org/wiki/xacro">
- <!--
-rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
-roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
--->
<!-- ======================== BASE PARAMS ========================= -->
<!-- ======================== FINGER PARAMS ======================== -->
<!-- full height from joint to tip. when used,
-the radius of the finger tip sphere will be subtracted
-and one fixed link will be added for the tip. -->
- <!--0.0435, 0.044981-->
- <!--0.002298-->
- <!--0.002298-->
+ the radius of the finger tip sphere will be subtracted
+ and one fixed link will be added for the tip. -->
<!-- ========================= THUMB PARAMS ========================= -->
<!-- ========================= LIMITS ========================= -->
<!-- ============================================================================= -->
- <!-- ============================================================================= -->
- <!-- ============================================================================= -->
- <!-- BASE -->
- <link name="base_link">
+ <!-- PALM -->
+ <link name="palm_link">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/base_link_left.STL"/>
</geometry>
- <!-- LEFT -->
<origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
- <!-- RIGHT -->
- <!--<origin rpy="0 0 0" xyz="0 0 0 "/>-->
<material name="black">
<color rgba="0.2 0.2 0.2 1"/>
</material>
@@ -41,11 +29,17 @@ and one fixed link will be added for the tip. -->
<box size="0.0408 0.1130 0.095"/>
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0.0475"/>
+ <mass value="0.4154"/>
+ <inertia ixx="1e-4" ixy="0.0" ixz="0.0" iyy="1e-4" iyz="0.0" izz="1e-4"/>
+ </inertial>
</link>
<!-- ============================================================================= -->
<!-- FINGERS -->
<!-- RIGHT HAND due to which finger is number 0 -->
<!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+ <!-- [LINK 0, 4, 8] -->
<link name="link_8.0">
<visual>
<geometry>
@@ -59,14 +53,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
</collision>
+ <inertial>
+ <mass value="0.0119"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+ </inertial>
</link>
<joint name="joint_8.0" type="revolute">
<axis xyz="0 0 1"/>
- <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
- <parent link="base_link"/>
+ <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
+ <parent link="palm_link"/>
<child link="link_8.0"/>
<origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 1, 5, 9] -->
<link name="link_9.0">
<visual>
<geometry>
@@ -80,14 +81,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.027"/>
</collision>
+ <inertial>
+ <mass value="0.065"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+ </inertial>
</link>
<joint name="joint_9.0" type="revolute">
- <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+ <limit effort="15" lower="-0.196" upper="1.61" velocity="7"/>
<axis xyz="0 1 0"/>
<parent link="link_8.0"/>
<child link="link_9.0"/>
<origin xyz="0 0 0.0164"/>
+ <dynamics damping="3" friction="5"/>
</joint>
+ <!-- [LINK 2, 6, 10]-->
<link name="link_10.0">
<visual>
<geometry>
@@ -101,14 +109,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
</collision>
+ <inertial>
+ <mass value="0.0355"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+ </inertial>
</link>
<joint name="joint_10.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+ <limit effort="15" lower="-0.174" upper="1.709" velocity="7"/>
<parent link="link_9.0"/>
<child link="link_10.0"/>
<origin xyz="0 0 0.054"/>
+ <dynamics damping="8" friction="10"/>
</joint>
+ <!-- [LINK 3, 7, 11] -->
<link name="link_11.0">
<visual>
<geometry>
@@ -122,14 +137,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
</collision>
+ <inertial>
+ <mass value="0.0096"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+ </inertial>
</link>
<joint name="joint_11.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+ <limit effort="15" lower="-0.227" upper="1.618" velocity="7"/>
<parent link="link_10.0"/>
<child link="link_11.0"/>
<origin xyz="0 0 0.0384"/>
+ <dynamics damping="10" friction="12"/>
</joint>
+ <!-- [FINGER TIP] -->
<link name="link_11.0_tip">
<visual>
<geometry>
@@ -144,12 +166,18 @@ and one fixed link will be added for the tip. -->
<sphere radius="0.012"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.0168"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+ </inertial>
</link>
<joint name="joint_11.0_tip" type="fixed">
<parent link="link_11.0"/>
<child link="link_11.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0267"/>
</joint>
+ <!-- [LINK 0, 4, 8] -->
<link name="link_4.0">
<visual>
<geometry>
@@ -163,14 +191,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
</collision>
+ <inertial>
+ <mass value="0.0119"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+ </inertial>
</link>
<joint name="joint_4.0" type="revolute">
<axis xyz="0 0 1"/>
- <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
- <parent link="base_link"/>
+ <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
+ <parent link="palm_link"/>
<child link="link_4.0"/>
<origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 1, 5, 9] -->
<link name="link_5.0">
<visual>
<geometry>
@@ -184,14 +219,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.027"/>
</collision>
+ <inertial>
+ <mass value="0.065"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+ </inertial>
</link>
<joint name="joint_5.0" type="revolute">
- <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+ <limit effort="15" lower="-0.196" upper="1.61" velocity="7"/>
<axis xyz="0 1 0"/>
<parent link="link_4.0"/>
<child link="link_5.0"/>
<origin xyz="0 0 0.0164"/>
+ <dynamics damping="3" friction="5"/>
</joint>
+ <!-- [LINK 2, 6, 10]-->
<link name="link_6.0">
<visual>
<geometry>
@@ -205,14 +247,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
</collision>
+ <inertial>
+ <mass value="0.0355"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+ </inertial>
</link>
<joint name="joint_6.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+ <limit effort="15" lower="-0.174" upper="1.709" velocity="7"/>
<parent link="link_5.0"/>
<child link="link_6.0"/>
<origin xyz="0 0 0.054"/>
+ <dynamics damping="8" friction="10"/>
</joint>
+ <!-- [LINK 3, 7, 11] -->
<link name="link_7.0">
<visual>
<geometry>
@@ -226,14 +275,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
</collision>
+ <inertial>
+ <mass value="0.0096"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+ </inertial>
</link>
<joint name="joint_7.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+ <limit effort="15" lower="-0.227" upper="1.618" velocity="7"/>
<parent link="link_6.0"/>
<child link="link_7.0"/>
<origin xyz="0 0 0.0384"/>
+ <dynamics damping="10" friction="12"/>
</joint>
+ <!-- [FINGER TIP] -->
<link name="link_7.0_tip">
<visual>
<geometry>
@@ -248,12 +304,18 @@ and one fixed link will be added for the tip. -->
<sphere radius="0.012"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.0168"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+ </inertial>
</link>
<joint name="joint_7.0_tip" type="fixed">
<parent link="link_7.0"/>
<child link="link_7.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0267"/>
</joint>
+ <!-- [LINK 0, 4, 8] -->
<link name="link_0.0">
<visual>
<geometry>
@@ -267,14 +329,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
</collision>
+ <inertial>
+ <mass value="0.0119"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+ </inertial>
</link>
<joint name="joint_0.0" type="revolute">
<axis xyz="0 0 1"/>
- <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
- <parent link="base_link"/>
+ <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
+ <parent link="palm_link"/>
<child link="link_0.0"/>
<origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 1, 5, 9] -->
<link name="link_1.0">
<visual>
<geometry>
@@ -288,14 +357,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.027"/>
</collision>
+ <inertial>
+ <mass value="0.065"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+ </inertial>
</link>
<joint name="joint_1.0" type="revolute">
- <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+ <limit effort="15" lower="-0.196" upper="1.61" velocity="7"/>
<axis xyz="0 1 0"/>
<parent link="link_0.0"/>
<child link="link_1.0"/>
<origin xyz="0 0 0.0164"/>
+ <dynamics damping="3" friction="5"/>
</joint>
+ <!-- [LINK 2, 6, 10]-->
<link name="link_2.0">
<visual>
<geometry>
@@ -309,14 +385,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
</collision>
+ <inertial>
+ <mass value="0.0355"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+ </inertial>
</link>
<joint name="joint_2.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+ <limit effort="15" lower="-0.174" upper="1.709" velocity="7"/>
<parent link="link_1.0"/>
<child link="link_2.0"/>
<origin xyz="0 0 0.054"/>
+ <dynamics damping="8" friction="10"/>
</joint>
+ <!-- [LINK 3, 7, 11] -->
<link name="link_3.0">
<visual>
<geometry>
@@ -330,14 +413,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
</collision>
+ <inertial>
+ <mass value="0.0096"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+ </inertial>
</link>
<joint name="joint_3.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+ <limit effort="15" lower="-0.227" upper="1.618" velocity="7"/>
<parent link="link_2.0"/>
<child link="link_3.0"/>
<origin xyz="0 0 0.0384"/>
+ <dynamics damping="10" friction="12"/>
</joint>
+ <!-- [FINGER TIP] -->
<link name="link_3.0_tip">
<visual>
<geometry>
@@ -352,6 +442,11 @@ and one fixed link will be added for the tip. -->
<sphere radius="0.012"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.0168"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+ </inertial>
</link>
<joint name="joint_3.0_tip" type="fixed">
<parent link="link_3.0"/>
@@ -359,30 +454,10 @@ and one fixed link will be added for the tip. -->
<origin rpy="0 0 0" xyz="0 0 0.0267"/>
</joint>
<!-- THUMB -->
- <!--
-<xacro:thumb_right
- finger_num= "3"
- offset_origin_x= "-0.0182"
- offset_origin_y= "0.019333"
- offset_origin_z= "-0.045987"
-
-
- finger_angle_r= "0"
- finger_angle_p= "-${95*DEG2RAD}"
- finger_angle_y= "-${90*DEG2RAD}"
-/>
--->
- <!--
- finger_angle_r= "${90*DEG2RAD}"
- finger_angle_p= "-${100*DEG2RAD}"
- finger_angle_y= "${0*DEG2RAD}"
- -->
+ <!-- [LINK 12] -->
<link name="link_12.0">
<visual>
<geometry>
- <!-- RIGHT -->
- <!-- <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_12.0_right.STL" /> -->
- <!-- LEFT -->
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_12.0_left.STL"/>
</geometry>
<material name="black">
@@ -394,19 +469,23 @@ and one fixed link will be added for the tip. -->
<geometry>
<box size="0.0358 0.034 0.0455"/>
</geometry>
- <!-- RIGHT -->
- <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
- <!-- LEFT -->
<origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
</collision>
+ <inertial>
+ <mass value="0.0176"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+ </inertial>
</link>
<joint name="joint_12.0" type="revolute">
<axis xyz="+1 0 0"/>
- <limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
- <parent link="base_link"/>
+ <limit effort="15" lower="0.263" upper="1.396" velocity="7"/>
+ <parent link="palm_link"/>
<child link="link_12.0"/>
<origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 13] -->
<link name="link_13.0">
<visual>
<geometry>
@@ -422,24 +501,28 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.00885"/>
</collision>
+ <inertial>
+ <mass value="0.0119"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+ </inertial>
</link>
<joint name="joint_13.0" type="revolute">
<axis xyz="0 0 -1"/>
- <limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
+ <limit effort="15" lower="-0.105" upper="1.163" velocity="7"/>
<parent link="link_12.0"/>
<child link="link_13.0"/>
- <!-- RIGHT -->
- <!-- <origin xyz="-0.027 0.005 0.0399"/> -->
- <!-- LEFT -->
<origin xyz="-0.027 -0.005 0.0399"/>
+ <dynamics damping="3" friction="5"/>
</joint>
+ <!-- [LINK 14] -->
<link name="link_14.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_14.0.STL"/>
</geometry>
<material name="black">
- </material>
+ </material>
</visual>
<collision>
<geometry>
@@ -447,21 +530,28 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0257"/>
</collision>
+ <inertial>
+ <mass value="0.038"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+ </inertial>
</link>
<joint name="joint_14.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
+ <limit effort="15" lower="-0.189" upper="1.644" velocity="7"/>
<parent link="link_13.0"/>
<child link="link_14.0"/>
<origin xyz="0 0 0.0177"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 15] -->
<link name="link_15.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_15.0.STL"/>
</geometry>
<material name="black">
- </material>
+ </material>
</visual>
<collision>
<geometry>
@@ -469,14 +559,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.02115"/>
</collision>
+ <inertial>
+ <mass value="0.0388"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+ </inertial>
</link>
<joint name="joint_15.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
+ <limit effort="15" lower="-0.162" upper="1.719" velocity="7"/>
<parent link="link_14.0"/>
<child link="link_15.0"/>
<origin xyz="0 0 0.0514"/>
+ <dynamics damping="3" friction="12"/>
</joint>
+ <!-- [FINGER TIP] -->
<link name="link_15.0_tip">
<visual>
<geometry>
@@ -492,16 +589,18 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
+ <inertial>
+ <mass value="0.0168"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+ </inertial>
</link>
<joint name="joint_15.0_tip" type="fixed">
<parent link="link_15.0"/>
<child link="link_15.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0423"/>
- <!--0.0267000000000005-->
</joint>
<!-- ============================================================================= -->
- <!-- ============================================================================= -->
- <!-- ============================================================================= -->
<!-- THUMB MACRO -->
<!-- END THUMB MACRO -->
<!-- THREE FINGER MACRO -->
diff --git a/robots/allegro_hand_description/urdf/allegro_right_hand.urdf b/robots/allegro_hand_description/urdf/allegro_right_hand.urdf
index c5d068d7c26d0a30d87d24deb243f7fa660e5817..5777cc92604d444830141240ef3bbb85cc398341 100644
--- a/robots/allegro_hand_description/urdf/allegro_right_hand.urdf
+++ b/robots/allegro_hand_description/urdf/allegro_right_hand.urdf
@@ -4,32 +4,20 @@
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="allegro_hand_right" xmlns:xacro="http://www.ros.org/wiki/xacro">
- <!--
-rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
-roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
--->
<!-- ======================== BASE PARAMS ========================= -->
<!-- ======================== FINGER PARAMS ======================== -->
<!-- full height from joint to tip. when used,
-the radius of the finger tip sphere will be subtracted
-and one fixed link will be added for the tip. -->
- <!--0.0435, 0.044981-->
- <!--0.002298-->
- <!--0.002298-->
+ the radius of the finger tip sphere will be subtracted
+ and one fixed link will be added for the tip. -->
<!-- ========================= THUMB PARAMS ========================= -->
<!-- ========================= LIMITS ========================= -->
<!-- ============================================================================= -->
- <!-- ============================================================================= -->
- <!-- ============================================================================= -->
- <!-- BASE -->
- <link name="base_link">
+ <!-- PALM -->
+ <link name="palm_link">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/base_link.STL"/>
</geometry>
- <!-- LEFT -->
- <!-- <origin rpy="${-90*DEG2RAD} 0 0" xyz="0 0 0 "/> -->
- <!-- RIGHT -->
<origin rpy="0 0 0" xyz="0 0 0 "/>
<material name="black">
<color rgba="0.2 0.2 0.2 1"/>
@@ -41,11 +29,17 @@ and one fixed link will be added for the tip. -->
<box size="0.0408 0.1130 0.095"/>
</geometry>
</collision>
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0.0475"/>
+ <mass value="0.4154"/>
+ <inertia ixx="1e-4" ixy="0.0" ixz="0.0" iyy="1e-4" iyz="0.0" izz="1e-4"/>
+ </inertial>
</link>
<!-- ============================================================================= -->
<!-- FINGERS -->
<!-- RIGHT HAND due to which finger is number 0 -->
<!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+ <!-- [LINK 0, 4, 8] -->
<link name="link_0.0">
<visual>
<geometry>
@@ -59,14 +53,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
</collision>
+ <inertial>
+ <mass value="0.0119"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+ </inertial>
</link>
<joint name="joint_0.0" type="revolute">
<axis xyz="0 0 1"/>
- <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
- <parent link="base_link"/>
+ <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
+ <parent link="palm_link"/>
<child link="link_0.0"/>
<origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 1, 5, 9] -->
<link name="link_1.0">
<visual>
<geometry>
@@ -80,14 +81,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.027"/>
</collision>
+ <inertial>
+ <mass value="0.065"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+ </inertial>
</link>
<joint name="joint_1.0" type="revolute">
- <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+ <limit effort="15" lower="-0.196" upper="1.61" velocity="7"/>
<axis xyz="0 1 0"/>
<parent link="link_0.0"/>
<child link="link_1.0"/>
<origin xyz="0 0 0.0164"/>
+ <dynamics damping="3" friction="5"/>
</joint>
+ <!-- [LINK 2, 6, 10]-->
<link name="link_2.0">
<visual>
<geometry>
@@ -101,14 +109,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
</collision>
+ <inertial>
+ <mass value="0.0355"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+ </inertial>
</link>
<joint name="joint_2.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+ <limit effort="15" lower="-0.174" upper="1.709" velocity="7"/>
<parent link="link_1.0"/>
<child link="link_2.0"/>
<origin xyz="0 0 0.054"/>
+ <dynamics damping="8" friction="10"/>
</joint>
+ <!-- [LINK 3, 7, 11] -->
<link name="link_3.0">
<visual>
<geometry>
@@ -122,14 +137,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
</collision>
+ <inertial>
+ <mass value="0.0096"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+ </inertial>
</link>
<joint name="joint_3.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+ <limit effort="15" lower="-0.227" upper="1.618" velocity="7"/>
<parent link="link_2.0"/>
<child link="link_3.0"/>
<origin xyz="0 0 0.0384"/>
+ <dynamics damping="10" friction="12"/>
</joint>
+ <!-- [FINGER TIP] -->
<link name="link_3.0_tip">
<visual>
<geometry>
@@ -144,12 +166,18 @@ and one fixed link will be added for the tip. -->
<sphere radius="0.012"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.0168"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+ </inertial>
</link>
<joint name="joint_3.0_tip" type="fixed">
<parent link="link_3.0"/>
<child link="link_3.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0267"/>
</joint>
+ <!-- [LINK 0, 4, 8] -->
<link name="link_4.0">
<visual>
<geometry>
@@ -163,14 +191,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
</collision>
+ <inertial>
+ <mass value="0.0119"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+ </inertial>
</link>
<joint name="joint_4.0" type="revolute">
<axis xyz="0 0 1"/>
- <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
- <parent link="base_link"/>
+ <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
+ <parent link="palm_link"/>
<child link="link_4.0"/>
<origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 1, 5, 9] -->
<link name="link_5.0">
<visual>
<geometry>
@@ -184,14 +219,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.027"/>
</collision>
+ <inertial>
+ <mass value="0.065"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+ </inertial>
</link>
<joint name="joint_5.0" type="revolute">
- <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+ <limit effort="15" lower="-0.196" upper="1.61" velocity="7"/>
<axis xyz="0 1 0"/>
<parent link="link_4.0"/>
<child link="link_5.0"/>
<origin xyz="0 0 0.0164"/>
+ <dynamics damping="3" friction="5"/>
</joint>
+ <!-- [LINK 2, 6, 10]-->
<link name="link_6.0">
<visual>
<geometry>
@@ -205,14 +247,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
</collision>
+ <inertial>
+ <mass value="0.0355"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+ </inertial>
</link>
<joint name="joint_6.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+ <limit effort="15" lower="-0.174" upper="1.709" velocity="7"/>
<parent link="link_5.0"/>
<child link="link_6.0"/>
<origin xyz="0 0 0.054"/>
+ <dynamics damping="8" friction="10"/>
</joint>
+ <!-- [LINK 3, 7, 11] -->
<link name="link_7.0">
<visual>
<geometry>
@@ -226,14 +275,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
</collision>
+ <inertial>
+ <mass value="0.0096"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+ </inertial>
</link>
<joint name="joint_7.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+ <limit effort="15" lower="-0.227" upper="1.618" velocity="7"/>
<parent link="link_6.0"/>
<child link="link_7.0"/>
<origin xyz="0 0 0.0384"/>
+ <dynamics damping="10" friction="12"/>
</joint>
+ <!-- [FINGER TIP] -->
<link name="link_7.0_tip">
<visual>
<geometry>
@@ -248,12 +304,18 @@ and one fixed link will be added for the tip. -->
<sphere radius="0.012"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.0168"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+ </inertial>
</link>
<joint name="joint_7.0_tip" type="fixed">
<parent link="link_7.0"/>
<child link="link_7.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0267"/>
</joint>
+ <!-- [LINK 0, 4, 8] -->
<link name="link_8.0">
<visual>
<geometry>
@@ -267,14 +329,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0082"/>
</collision>
+ <inertial>
+ <mass value="0.0119"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
+ </inertial>
</link>
<joint name="joint_8.0" type="revolute">
<axis xyz="0 0 1"/>
- <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
- <parent link="base_link"/>
+ <limit effort="15" lower="-0.47" upper="0.47" velocity="7"/>
+ <parent link="palm_link"/>
<child link="link_8.0"/>
<origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 1, 5, 9] -->
<link name="link_9.0">
<visual>
<geometry>
@@ -288,14 +357,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.027"/>
</collision>
+ <inertial>
+ <mass value="0.065"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
+ </inertial>
</link>
<joint name="joint_9.0" type="revolute">
- <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+ <limit effort="15" lower="-0.196" upper="1.61" velocity="7"/>
<axis xyz="0 1 0"/>
<parent link="link_8.0"/>
<child link="link_9.0"/>
<origin xyz="0 0 0.0164"/>
+ <dynamics damping="3" friction="5"/>
</joint>
+ <!-- [LINK 2, 6, 10]-->
<link name="link_10.0">
<visual>
<geometry>
@@ -309,14 +385,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0192"/>
</collision>
+ <inertial>
+ <mass value="0.0355"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
+ </inertial>
</link>
<joint name="joint_10.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+ <limit effort="15" lower="-0.174" upper="1.709" velocity="7"/>
<parent link="link_9.0"/>
<child link="link_10.0"/>
<origin xyz="0 0 0.054"/>
+ <dynamics damping="8" friction="10"/>
</joint>
+ <!-- [LINK 3, 7, 11] -->
<link name="link_11.0">
<visual>
<geometry>
@@ -330,14 +413,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.01335"/>
</collision>
+ <inertial>
+ <mass value="0.0096"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
+ </inertial>
</link>
<joint name="joint_11.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+ <limit effort="15" lower="-0.227" upper="1.618" velocity="7"/>
<parent link="link_10.0"/>
<child link="link_11.0"/>
<origin xyz="0 0 0.0384"/>
+ <dynamics damping="10" friction="12"/>
</joint>
+ <!-- [FINGER TIP] -->
<link name="link_11.0_tip">
<visual>
<geometry>
@@ -352,6 +442,11 @@ and one fixed link will be added for the tip. -->
<sphere radius="0.012"/>
</geometry>
</collision>
+ <inertial>
+ <mass value="0.0168"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+ </inertial>
</link>
<joint name="joint_11.0_tip" type="fixed">
<parent link="link_11.0"/>
@@ -359,35 +454,38 @@ and one fixed link will be added for the tip. -->
<origin rpy="0 0 0" xyz="0 0 0.0267"/>
</joint>
<!-- THUMB -->
+ <!-- [LINK 12] -->
<link name="link_12.0">
<visual>
<geometry>
- <!-- RIGHT -->
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_12.0_right.STL"/>
- <!-- LEFT -->
- <!-- <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_12.0_left.STL" /> -->
</geometry>
<material name="black">
<color rgba=".2 .2 .2 1"/>
</material>
+ <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<box size="0.0358 0.034 0.0455"/>
</geometry>
- <!-- RIGHT -->
<origin rpy="0 0 0" xyz="-0.0179 0.009 0.0145"/>
- <!-- LEFT -->
- <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${-.018/2} ${.029/2}"/> -->
</collision>
+ <inertial>
+ <mass value="0.0176"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
+ </inertial>
</link>
<joint name="joint_12.0" type="revolute">
<axis xyz="-1 0 0"/>
- <limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
- <parent link="base_link"/>
+ <limit effort="15" lower="0.263" upper="1.396" velocity="7"/>
+ <parent link="palm_link"/>
<child link="link_12.0"/>
<origin rpy="0 -1.65806278845 -1.5707963259" xyz="-0.0182 0.019333 -0.045987"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 13] -->
<link name="link_13.0">
<visual>
<geometry>
@@ -403,24 +501,28 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.00885"/>
</collision>
+ <inertial>
+ <mass value="0.0119"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
+ </inertial>
</link>
<joint name="joint_13.0" type="revolute">
<axis xyz="0 0 1"/>
- <limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
+ <limit effort="15" lower="-0.105" upper="1.163" velocity="7"/>
<parent link="link_12.0"/>
<child link="link_13.0"/>
- <!-- RIGHT -->
<origin xyz="-0.027 0.005 0.0399"/>
- <!-- LEFT -->
- <!-- <origin xyz="-0.027 -0.005 0.0399"/> -->
+ <dynamics damping="3" friction="5"/>
</joint>
+ <!-- [LINK 14] -->
<link name="link_14.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_14.0.STL"/>
</geometry>
<material name="black">
- </material>
+ </material>
</visual>
<collision>
<geometry>
@@ -428,21 +530,28 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.0257"/>
</collision>
+ <inertial>
+ <mass value="0.038"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
+ </inertial>
</link>
<joint name="joint_14.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
+ <limit effort="15" lower="-0.189" upper="1.644" velocity="7"/>
<parent link="link_13.0"/>
<child link="link_14.0"/>
<origin xyz="0 0 0.0177"/>
+ <dynamics damping="3" friction="10"/>
</joint>
+ <!-- [LINK 15] -->
<link name="link_15.0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_15.0.STL"/>
</geometry>
<material name="black">
- </material>
+ </material>
</visual>
<collision>
<geometry>
@@ -450,14 +559,21 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.02115"/>
</collision>
+ <inertial>
+ <mass value="0.0388"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
+ </inertial>
</link>
<joint name="joint_15.0" type="revolute">
<axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
+ <limit effort="15" lower="-0.162" upper="1.719" velocity="7"/>
<parent link="link_14.0"/>
<child link="link_15.0"/>
<origin xyz="0 0 0.0514"/>
+ <dynamics damping="3" friction="12"/>
</joint>
+ <!-- [FINGER TIP] -->
<link name="link_15.0_tip">
<visual>
<geometry>
@@ -473,28 +589,17 @@ and one fixed link will be added for the tip. -->
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
+ <inertial>
+ <mass value="0.0168"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
+ </inertial>
</link>
<joint name="joint_15.0_tip" type="fixed">
<parent link="link_15.0"/>
<child link="link_15.0_tip"/>
<origin rpy="0 0 0" xyz="0 0 0.0423"/>
- <!--0.0267000000000005-->
</joint>
- <!--
-<xacro:thumb_left
- finger_num= "3"
- offset_origin_x= "-0.0182"
- offset_origin_y= "-0.019333"
- offset_origin_z= "-0.045987"
-
-
- finger_angle_r= "${90*DEG2RAD}"
- finger_angle_p= "-${95*DEG2RAD}"
- finger_angle_y= "${90*DEG2RAD}"
-/>
--->
- <!-- ============================================================================= -->
- <!-- ============================================================================= -->
<!-- ============================================================================= -->
<!-- THUMB MACRO -->
<!-- END THUMB MACRO -->