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1336 2553 1332 2553 949 2554 1332 2554 950 2554 1337 2555 989 2555 988 2555 1027 2556 1337 2556 1011 2556 1011 2557 1337 2557 1338 2557 1011 2558 1338 2558 1028 2558 1028 2559 1338 2559 785 2559 1337 2560 988 2560 1338 2560 1338 2561 988 2561 991 2561 1338 2562 991 2562 785 2562 1339 2563 1041 2563 1034 2563 1340 2564 1341 2564 1342 2564 1342 2565 1341 2565 1339 2565 1000 2566 1343 2566 1001 2566 1001 2567 1343 2567 1340 2567 1001 2568 1340 2568 1021 2568 1339 2569 1034 2569 1342 2569 1342 2570 1034 2570 1032 2570 1342 2571 1032 2571 1344 2571 1032 2572 1031 2572 1344 2572 1344 2573 1031 2573 1045 2573 1344 2574 1045 2574 1345 2574 1045 2575 1038 2575 1345 2575 1345 2576 1038 2576 1037 2576 1345 2577 1037 2577 1346 2577 1346 2578 1037 2578 1035 2578 1346 2579 1035 2579 1347 2579 1347 2580 1035 2580 989 2580 1347 2581 989 2581 1337 2581 1340 2582 1342 2582 1021 2582 1021 2583 1342 2583 1344 2583 1021 2584 1344 2584 1023 2584 1023 2585 1344 2585 1345 2585 1023 2586 1345 2586 1024 2586 1024 2587 1345 2587 1346 2587 1024 2588 1346 2588 1025 2588 1025 2589 1346 2589 1347 2589 1025 2590 1347 2590 1026 2590 1026 2591 1347 2591 1337 2591 1026 2592 1337 2592 1027 2592 1341 2593 1348 2593 1339 2593 1349 2594 1343 2594 1000 2594 1339 2595 1348 2595 1041 2595 1350 2596 971 2596 1321 2596 1343 2597 1349 2597 1340 2597 1340 2598 1349 2598 1351 2598 1340 2599 1351 2599 1341 2599 1341 2600 1351 2600 1350 2600 1341 2601 1350 2601 1348 2601 1348 2602 1350 2602 1321 2602 1348 2603 1321 2603 1041 2603 776 2604 963 2604 1352 2604 1352 2605 963 2605 965 2605 966 2606 1353 2606 965 2606 965 2607 1353 2607 1354 2607 965 2608 1354 2608 1352 2608 972 2609 971 2609 1350 2609 966 2610 968 2610 1353 2610 1353 2611 968 2611 967 2611 1353 2612 967 2612 1355 2612 1355 2613 967 2613 972 2613 972 2614 1350 2614 1355 2614 1355 2615 1350 2615 1351 2615 1355 2616 1351 2616 1349 2616 776 2617 1352 2617 1003 2617 1003 2618 1352 2618 1354 2618 1003 2619 1354 2619 1004 2619 1004 2620 1354 2620 1353 2620 1004 2621 1353 2621 1006 2621 1006 2622 1353 2622 1355 2622 1006 2623 1355 2623 999 2623 999 2624 1355 2624 1349 2624 999 2625 1349 2625 1000 2625 788 2626 782 2626 792 2626 792 2627 782 2627 784 2627 895 2628 892 2628 782 2628 782 2629 892 2629 890 2629 814 2630 914 2630 913 2630 788 2631 1192 2631 782 2631 782 2632 1192 2632 1188 2632 782 2633 1188 2633 895 2633 1137 2634 887 2634 784 2634 784 2635 887 2635 882 2635 784 2636 882 2636 881 2636 814 2637 913 2637 816 2637 816 2638 913 2638 987 2638 816 2639 987 2639 984 2639 881 2640 1099 2640 784 2640 784 2641 1099 2641 1097 2641 784 2642 1097 2642 792 2642 890 2643 1220 2643 782 2643 782 2644 1220 2644 816 2644 782 2645 816 2645 979 2645 979 2646 816 2646 984 2646 1137 2647 784 2647 822 2647 822 2648 784 2648 998 2648 822 2649 998 2649 997 2649 909 2650 820 2650 899 2650 899 2651 820 2651 822 2651 899 2652 822 2652 994 2652 994 2653 822 2653 997 2653 491 2654 486 2654 127 2654 127 2655 486 2655 230 2655 127 2656 230 2656 229 2656 348 2657 347 2657 253 2657 484 2658 156 2658 125 2658 125 2659 156 2659 158 2659 235 2660 233 2660 125 2660 125 2661 233 2661 585 2661 229 2662 225 2662 127 2662 127 2663 225 2663 525 2663 127 2664 525 2664 164 2664 164 2665 168 2665 127 2665 127 2666 168 2666 434 2666 127 2667 434 2667 244 2667 244 2668 242 2668 127 2668 127 2669 242 2669 365 2669 127 2670 365 2670 359 2670 359 2671 365 2671 364 2671 348 2672 253 2672 353 2672 585 2673 583 2673 125 2673 125 2674 583 2674 128 2674 125 2675 128 2675 127 2675 127 2676 128 2676 133 2676 127 2677 133 2677 491 2677 353 2678 253 2678 125 2678 125 2679 253 2679 266 2679 125 2680 266 2680 484 2680 158 2681 617 2681 125 2681 125 2682 617 2682 237 2682 125 2683 237 2683 235 2683 122 2684 123 2684 290 2684 290 2685 123 2685 324 2685 290 2686 324 2686 289 2686 289 2687 324 2687 325 2687 289 2688 325 2688 323 2688 322 2689 321 2689 292 2689 292 2690 321 2690 293 2690 322 2691 292 2691 323 2691 323 2692 292 2692 291 2692 323 2693 291 2693 289 2693 296 2694 295 2694 294 2694 293 2695 321 2695 294 2695 294 2696 321 2696 320 2696 294 2697 320 2697 296 2697 319 2698 317 2698 1356 2698 46 2699 51 2699 316 2699 316 2700 51 2700 297 2700 316 2701 297 2701 317 2701 317 2702 297 2702 296 2702 317 2703 296 2703 1356 2703 1356 2704 296 2704 320 2704 1356 2705 320 2705 319 2705

+ + + + + + + + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 0.6858805 -0.3173701 0.6548619 7.481259 0.7276337 0.3124686 -0.6106656 -6.507759 -0.01081678 0.8953431 0.4452454 5.343752 0 0 0 1 + + + + -0.2908647 -0.7711007 0.5663933 4.076355 0.9551713 -0.1998833 0.2183912 1.005496 -0.05518912 0.6045247 0.7946723 5.904016 0 0 0 1 + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/sr_description/hand/xacro/forearm/forearm_lite.urdf.xacro b/sr_description/hand/xacro/forearm/forearm_lite.urdf.xacro new file mode 100644 index 00000000..d289bfcc --- /dev/null +++ b/sr_description/hand/xacro/forearm/forearm_lite.urdf.xacro @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/hand_lite.urdf.xacro b/sr_description/hand/xacro/hand_lite.urdf.xacro new file mode 100644 index 00000000..6b2cbac0 --- /dev/null +++ b/sr_description/hand/xacro/hand_lite.urdf.xacro @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/palm/palm.urdf.xacro b/sr_description/hand/xacro/palm/palm.urdf.xacro index cb57ea92..6061cf25 100644 --- a/sr_description/hand/xacro/palm/palm.urdf.xacro +++ b/sr_description/hand/xacro/palm/palm.urdf.xacro @@ -88,7 +88,7 @@ effort="30" velocity="1.0"/> - + diff --git a/sr_description/hand/xacro/palm/palm_lite.urdf.xacro b/sr_description/hand/xacro/palm/palm_lite.urdf.xacro new file mode 100644 index 00000000..15fef496 --- /dev/null +++ b/sr_description/hand/xacro/palm/palm_lite.urdf.xacro @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/thumb/thhub.urdf.xacro b/sr_description/hand/xacro/thumb/thhub.urdf.xacro index 62a0307b..d4fbc382 100644 --- a/sr_description/hand/xacro/thumb/thhub.urdf.xacro +++ b/sr_description/hand/xacro/thumb/thhub.urdf.xacro @@ -13,7 +13,8 @@ - + + @@ -38,15 +39,25 @@ - - - - - - - - + + + + + + + + + + + + + + + + + + diff --git a/sr_description/hand/xacro/thumb/thumb.urdf.xacro b/sr_description/hand/xacro/thumb/thumb.urdf.xacro index d4908f10..c49b70e3 100644 --- a/sr_description/hand/xacro/thumb/thumb.urdf.xacro +++ b/sr_description/hand/xacro/thumb/thumb.urdf.xacro @@ -12,7 +12,8 @@ - + + @@ -20,7 +21,7 @@ - + > diff --git a/sr_description/robots/shadowhand_lite.urdf.xacro b/sr_description/robots/shadowhand_lite.urdf.xacro new file mode 100644 index 00000000..2606125d --- /dev/null +++ b/sr_description/robots/shadowhand_lite.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + +