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barretthand.kinbody.xml
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barretthand.kinbody.xml
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<KinBody name="BarrettHand">
<Body name="handbase" type="dynamic">
<Geom type="trimesh" modifiable="false">
<Translation>0.0 0.0 -0.06</Translation>
<data>models/barrett/palm.iv 1</data>
<Render>models/barrett/palm.iv 1</Render>
</Geom>
<Geom type="trimesh" modifiable="false">
<Translation>0.0 0.0 0.0915</Translation>
<RotationMat>-1 0 0 0 -1 0 0 0 1</RotationMat>
<data>models/barrett/link1.iv 0.001</data>
<Render>models/barrett/link1.iv 0.001</Render>
</Geom>
<mass type="custom">
<!-- cylinder -->
<total>1.1</total>
<com>0 0 0.04796</com>
<inertia>0.000556875 0 0 0 0.000556875 0 0 0 0.00111375</inertia>
</mass>
</Body>
<!-- finger 0-->
<Body name="Finger0-0" type="dynamic">
<offsetfrom>handbase</offsetfrom>
<Translation>0 -0.025 0.0915</Translation>
<Geom type="trimesh" modifiable="false">
<data>models/barrett/link1.iv 0.001</data>
<Render>models/barrett/link1.iv 0.001</Render>
</Geom>
<mass type="custom">
<!-- approximate as box -->
<total>0.1</total>
<com>0.026484 0.000000 -0.007214</com>
<inertia>0.000025 0 0 0 0.000069 0 0 0 0.000459</inertia>
</mass>
</Body>
<Body name="Finger0-1" type="dynamic" >
<offsetfrom>Finger0-0</offsetfrom>
<Translation>0.05 0 0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh" modifiable="false">
<Translation>0 0 0</Translation>
<data>models/barrett/link2.iv 0.001</data>
<Render>models/barrett/link2.iv 0.001</Render>
</Geom>
<mass type="custom">
<!-- approximate as box -->
<total>0.1</total>
<com>0.033500 0.000830 0.000050</com>
<inertia>0.000009 0 0 0 0.000074 0 0 0 0.000514</inertia>
</mass>
</Body>
<Joint type="hinge" name="JF1">
<Body>Finger0-0</Body>
<Body>Finger0-1</Body>
<offsetfrom>Finger0-1</offsetfrom>
<weight>0.03846</weight>
<limitsdeg>0 140</limitsdeg>
<axis>0 0 1</axis>
<maxvel>2</maxvel>
<resolution>4.2</resolution>
<maxtorque>4.6875</maxtorque>
</Joint>
<Body name="Finger0-2" type="dynamic" >
<offsetfrom>Finger0-1</offsetfrom>
<Translation>0.07 0 0</Translation>
<RotationMat>1 0 0 0 1 0 0 0 1</RotationMat>
<Geom type="trimesh" modifiable="false">
<Translation>0 0 0</Translation>
<data>models/barrett/link3.iv 0.001</data>
<Render>models/barrett/link3.iv 0.001</Render>
</Geom>
<mass type="custom">
<!-- approximate as box -->
<total>0.1</total>
<com>0.023250 0.000000 0.000100</com>
<inertia>0.000007 0 0 0 0.000040 0 0 0 0.000352</inertia>
</mass>
</Body>
<Joint name="JF1mimic" type="hinge" enable="false" mimic_pos="JF1/3+0.8727" mimic_vel="|JF1 0.3333333333333333" mimic_accel="|JF1 0">
<Body>Finger0-1</Body>
<Body>Finger0-2</Body>
<offsetfrom>Finger0-2</offsetfrom>
<weight>0.03846</weight>
<limitsdeg>0 97</limitsdeg>
<axis>0 0 1</axis>
<maxvel>1</maxvel>
<resolution>4.2</resolution>
</Joint>
<!-- finger 1-->
<Body name="Finger1-0" type="dynamic">
<offsetfrom>handbase</offsetfrom>
<Translation>0 0.025 0.0915</Translation>
<Geom type="trimesh" modifiable="false">
<data>models/barrett/link1.iv 0.001</data>
<Render>models/barrett/link1.iv 0.001</Render>
</Geom>
<mass type="custom">
<!-- approximate as box -->
<total>0.1</total>
<com>0.026484 0.000000 -0.007214</com>
<inertia>0.000025 0 0 0 0.000069 0 0 0 0.000459</inertia>
</mass>
</Body>
<Body name="Finger1-1" type="dynamic" >
<offsetfrom>Finger1-0</offsetfrom>
<Translation>0.05 0 0</Translation>
<RotationMat>1 0 0 0 0 -1 0 1 0</RotationMat>
<Geom type="trimesh" modifiable="false">
<Translation>0 0 0</Translation>
<data>models/barrett/link2.iv 0.001</data>
<Render>models/barrett/link2.iv 0.001</Render>
</Geom>
<mass type="custom">
<!-- approximate as box -->
<total>0.1</total>
<com>0.033500 0.000830 0.000050</com>
<inertia>0.000009 0 0 0 0.000074 0 0 0 0.000514</inertia>
</mass>
</Body>
<Joint type="hinge" name="JF2">
<Body>Finger1-0</Body>
<Body>Finger1-1</Body>
<offsetfrom>Finger1-1</offsetfrom>
<weight>0.03846</weight>
<limitsdeg>0 140</limitsdeg>
<axis>0 0 1</axis>
<maxvel>2</maxvel>
<resolution>4.2</resolution>
<maxtorque>4.6875</maxtorque>
</Joint>
<Body name="Finger1-2" type="dynamic" >
<offsetfrom>Finger1-1</offsetfrom>
<Translation>0.07 0 0</Translation>
<RotationMat>1 0 0 0 1 0 0 0 1</RotationMat>
<Geom type="trimesh" modifiable="false">
<Translation>0 0 0</Translation>
<data>models/barrett/link3.iv 0.001</data>
<Render>models/barrett/link3.iv 0.001</Render>
</Geom>
<mass type="custom">
<!-- approximate as box -->
<total>0.1</total>
<com>0.023250 0.000000 0.000100</com>
<inertia>0.000007 0 0 0 0.000040 0 0 0 0.000352</inertia>
</mass>
</Body>
<Joint name="JF2mimic" type="hinge" enable="false" mimic_pos="JF2/3+0.8727" mimic_vel="|JF2 0.3333333333333333" mimic_accel="|JF2 0.3333333333333333">
<Body>Finger1-1</Body>
<Body>Finger1-2</Body>
<offsetfrom>Finger1-2</offsetfrom>
<weight>0.03846</weight>
<limitsdeg>0 97</limitsdeg>
<axis>0 0 1</axis>
<maxvel>1</maxvel>
<resolution>4.2</resolution>
</Joint>
<!-- finger 2-->
<Body name="Finger2-1" type="dynamic" >
<offsetfrom>handbase</offsetfrom>
<Translation>-0.05 0 0.0915</Translation>
<RotationMat>-1 0 0 0 0 1 0 1 0</RotationMat>
<Geom type="trimesh" modifiable="false">
<Translation>0 0 0</Translation>
<data>models/barrett/link2.iv 0.001</data>
<Render>models/barrett/link2.iv 0.001</Render>
</Geom>
<mass type="custom">
<!-- approximate as box -->
<total>0.1</total>
<com>0.033500 0.000830 0.000050</com>
<inertia>0.000009 0 0 0 0.000074 0 0 0 0.000514</inertia>
</mass>
</Body>
<Joint type="hinge" name="JF3">
<Body>handbase</Body>
<Body>Finger2-1</Body>
<offsetfrom>Finger2-1</offsetfrom>
<weight>0.03846</weight>
<limitsdeg>0 140</limitsdeg>
<axis>0 0 1</axis>
<maxvel>2</maxvel>
<resolution>4.2</resolution>
<maxtorque>4.6875</maxtorque>
</Joint>
<Body name="Finger2-2" type="dynamic" >
<offsetfrom>Finger2-1</offsetfrom>
<Translation>0.07 0 0</Translation>
<RotationMat>1 0 0 0 1 0 0 0 1</RotationMat>
<Geom type="trimesh" modifiable="false">
<Translation>0 0 0</Translation>
<data>models/barrett/link3.iv 0.001</data>
<Render>models/barrett/link3.iv 0.001</Render>
</Geom>
<mass type="custom">
<!-- approximate as box -->
<total>0.1</total>
<com>0.023250 0.000000 0.000100</com>
<inertia>0.000007 0 0 0 0.000040 0 0 0 0.000352</inertia>
</mass>
</Body>
<Joint name="JF3mimic" type="hinge" enable="false" mimic_pos="JF3/3+0.8727" mimic_vel="|JF3 0.3333333333333333" mimic_accel="|JF3 0">
<Body>Finger2-1</Body>
<Body>Finger2-2</Body>
<offsetfrom>Finger2-2</offsetfrom>
<weight>0.03846</weight>
<limitsdeg>0 97</limitsdeg>
<axis>0 0 1</axis>
<maxvel>1</maxvel>
<resolution>4.2</resolution>
</Joint>
<!-- spread -->
<Joint name = "JF4" type="hinge">
<Body>handbase</Body>
<Body>Finger0-0</Body>
<offsetfrom>Finger0-0</offsetfrom>
<weight>0.14894</weight>
<limitsdeg>-1 181</limitsdeg>
<axis>0 0 -1</axis>
<!-- <anchor>0.025 0 0</anchor> -->
<maxvel>2</maxvel>
<resolution>1.7</resolution>
<maxtorque>2</maxtorque>
</Joint>
<Joint name="JF4mimic" type="hinge" enable="false" mimic_pos="JF4" mimic_vel="|JF4 1" mimic_accel="|JF4 0">
<Body>handbase</Body>
<Body>Finger1-0</Body>
<offsetfrom>Finger1-0</offsetfrom>
<weight>0.14894</weight>
<axis>0 0 1</axis>
<!-- <anchor>-0.025 0 0</anchor> -->
<maxvel>2</maxvel>
<resolution>1.7</resolution>
<limitsdeg>-1 181</limitsdeg>
</Joint>
<!-- add adjacent links, necessary in order to prevent bogus collisions -->
<adjacent>Finger0-0 Finger1-0</adjacent>
<adjacent>Finger0-1 Finger0-2</adjacent>
<adjacent>Finger1-1 Finger1-2</adjacent>
<adjacent>Finger2-1 Finger2-2</adjacent>
<adjacent>handbase Finger0-1</adjacent>
<adjacent>handbase Finger0-2</adjacent>
<adjacent>handbase Finger1-1</adjacent>
<adjacent>handbase Finger1-2</adjacent>
<adjacent>handbase Finger2-1</adjacent>
<adjacent>handbase Finger2-2</adjacent>
</KinBody>