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Merge pull request #144 from guihomework/F_new_collision_model
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Modified collision model (for OMPL to work)
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@ugocupcic
ugocupcic committed Jul 15, 2014
2 parents 0de5988 + 93f802f commit de78480
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Showing 52 changed files with 175 additions and 98 deletions.
2 changes: 1 addition & 1 deletion sr_description/hand/model/F1.dae
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<created>2012-07-23T02:16:01.949584</created>
<modified>2012-07-23T02:16:01.949597</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/F2.dae
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<created>2012-07-23T02:15:44.246463</created>
<modified>2012-07-23T02:15:44.246477</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/F3.dae
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<created>2012-07-23T02:15:31.855069</created>
<modified>2012-07-23T02:15:31.855082</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/TH1_z.dae
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<created>2012-07-23T02:13:47.090860</created>
<modified>2012-07-23T02:13:47.090873</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/TH2_z.dae
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<created>2012-07-23T02:14:04.601049</created>
<modified>2012-07-23T02:14:04.601062</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/TH3_z.dae
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<created>2012-07-23T02:14:18.666034</created>
<modified>2012-07-23T02:14:18.666047</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/biotacs/biotac_decimated.dae
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<created>2012-12-14T09:15:39</created>
<modified>2012-12-14T09:15:39</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/biotacs/biotac_thumb_adapter.dae
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<created>2012-12-14T09:32:52</created>
<modified>2012-12-14T09:32:52</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_cameras>
<camera id="Camera-camera" name="Camera">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/distal_ellipsoid.dae
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<created>2012-07-23T01:48:41.413018</created>
<modified>2012-07-23T01:48:41.413036</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_geometries>
<geometry id="ellipsoid-Geometry" name="ellipsoid-Geometry">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/F1.dae
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<created>2012-07-23T02:18:18.630014</created>
<modified>2012-07-23T02:18:18.630028</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/F2.dae
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<created>2012-07-23T02:18:03.236589</created>
<modified>2012-07-23T02:18:03.236602</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/F3.dae
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<created>2012-07-23T02:17:30.699549</created>
<modified>2012-07-23T02:17:30.699562</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/TH1_z.dae
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<created>2012-07-23T02:19:57.817591</created>
<modified>2012-07-23T02:19:57.817614</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/TH2_z.dae
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<created>2012-07-23T02:19:43.659883</created>
<modified>2012-07-23T02:19:43.659896</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/TH3_z.dae
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<created>2012-07-23T02:19:26.873500</created>
<modified>2012-07-23T02:19:26.873524</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/forearm.dae
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<created>2012-07-09T16:31:07.703152</created>
<modified>2012-07-09T16:31:07.703174</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="Material-fx" name="Material-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/knuckle.dae
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<created>2012-07-23T02:18:42.789987</created>
<modified>2012-07-23T02:18:42.790010</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/lfmetacarpal.dae
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<created>2012-07-23T02:19:08.920629</created>
<modified>2012-07-23T02:19:08.920641</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/palm.dae
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<created>2012-07-23T02:20:16.267352</created>
<modified>2012-07-23T02:20:16.267365</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_light/wrist.dae
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<created>2012-07-23T02:20:30.787713</created>
<modified>2012-07-23T02:20:30.787736</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/F1.dae
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<created>2012-07-23T02:16:01.949584</created>
<modified>2012-07-23T02:16:01.949597</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/F2.dae
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<created>2012-07-23T02:15:44.246463</created>
<modified>2012-07-23T02:15:44.246477</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/F3.dae
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<created>2012-07-23T02:15:31.855069</created>
<modified>2012-07-23T02:15:31.855082</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/TH1_z.dae
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<created>2012-07-23T02:13:47.090860</created>
<modified>2012-07-23T02:13:47.090873</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/TH2_z.dae
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<created>2012-07-23T02:14:04.601049</created>
<modified>2012-07-23T02:14:04.601062</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/TH3_z.dae
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<created>2012-07-23T02:14:18.666034</created>
<modified>2012-07-23T02:14:18.666047</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/forearm.dae
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<created>2012-07-09T16:29:53.272413</created>
<modified>2012-07-09T16:29:53.272436</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="Material-fx" name="Material-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/knuckle.dae
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<created>2012-07-23T02:15:15.508647</created>
<modified>2012-07-23T02:15:15.508662</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/lfmetacarpal.dae
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<created>2012-07-23T02:16:22.697136</created>
<modified>2012-07-23T02:16:22.697149</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/palm.dae
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<created>2012-07-23T02:03:42.155704</created>
<modified>2012-07-23T02:03:42.155716</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/envelop_standard/wrist.dae
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<created>2012-07-23T02:14:55.555034</created>
<modified>2012-07-23T02:14:55.555052</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/forearm.dae
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<created>2012-07-09T16:29:53.272413</created>
<modified>2012-07-09T16:29:53.272436</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="Material-fx" name="Material-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/forearm_muscle.dae
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<created>2013-02-21T11:19:02</created>
<modified>2013-02-21T11:19:02</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/forearm_muscle_disk.dae
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<created>2013-02-21T11:51:39</created>
<modified>2013-02-21T11:51:39</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/knuckle.dae
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<created>2012-07-23T02:15:15.508647</created>
<modified>2012-07-23T02:15:15.508662</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/lfmetacarpal.dae
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<created>2012-07-23T02:16:22.697136</created>
<modified>2012-07-23T02:16:22.697149</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/palm.dae
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<created>2012-07-23T02:03:42.155704</created>
<modified>2012-07-23T02:03:42.155716</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="black_spec-fx" name="black_spec-fx">
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2 changes: 1 addition & 1 deletion sr_description/hand/model/wrist.dae
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<created>2012-07-23T02:14:55.555034</created>
<modified>2012-07-23T02:14:55.555052</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="osg2mat0-fx" name="osg2mat0-fx">
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4 changes: 2 additions & 2 deletions sr_description/hand/xacro/finger/knuckle/edc_muscle_knuckle.urdf.xacro
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Expand Up @@ -26,9 +26,9 @@
<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="0 1.5708 0" />
<geometry name="${link_prefix}knuckle_collision_geom">
<box size="0.005 0.005 0.005" />
<cylinder radius="0.007" length="0.014" />
</geometry>
</collision>
</link>
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4 changes: 2 additions & 2 deletions sr_description/hand/xacro/finger/knuckle/knuckle.urdf.xacro
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<material name="LightGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="0 1.5708 0" />
<geometry name="${link_prefix}knuckle_collision_geom">
<box size="0.005 0.005 0.005" />
<cylinder radius="0.007" length="0.014" />
</geometry>
</collision>
</link>
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5 changes: 3 additions & 2 deletions sr_description/hand/xacro/finger/lfmetacarpal/edc_muscle_lfmetacarpal.urdf.xacro
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<material name="Grey" />
</visual>
<collision>
<origin xyz="0 0 0.04" rpy="0 0 0" />
<origin xyz="0 0 0.038" rpy="0 0 0" />
<geometry name="lfmetacarpal_collision_geom">
<box size="0.008 0.008 0.03" />
<box size="0.018 0.024 0.048" />
</geometry>
</collision>
</link>
Expand All @@ -57,6 +57,7 @@
<bumperTopicName>contacts/lf/metacarpal</bumperTopicName>
</plugin>
</sensor>
<selfCollide>true</selfCollide>
<material>LightGrey</material>
</gazebo>

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