942 lines (940 with data), 32.3 kB

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          <mass>4.691462438106352e-06</mass>
          <inertia>
            <ixx>7.41257025441754e-12</ixx>
            <ixy>0.0</ixy>
            <ixz>7.888609052210118e-28</ixz>
            <iyy>7.637229498533776e-12</iyy>
            <iyz>3.1554436208840472e-27</iyz>
            <izz>8.908348107732969e-13</izz>
          </inertia>
        </inertial>
        <collision name="RFPhalange4_collision">
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <geometry>
            <mesh>
              <uri>../meshes/stl/RFPhalange4.stl</uri>
              <scale>1.0 1.0 1.0</scale>
            </mesh>
          </geometry>
        </collision>
        <visual name="RFPhalange4_visual">
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <geometry>
            <mesh>
              <uri>../meshes/stl/RFPhalange4.stl</uri>
              <scale>1.0 1.0 1.0</scale>
            </mesh>
          </geometry>
          <material/>
        </visual>
      </link>
      <link name="RFPhalange5">
        <pose>0.005733825612068176 0.06200577926635742 -0.03652340927124023 0.0 0.0 0.0</pose>
        <inertial>
          <pose>-0.0001636417582631111 -0.0005709044635295867 -0.001191604882478714 0.0 0.0 0.0</pose>
          <mass>7.448479084574695e-07</mass>
          <inertia>
            <ixx>2.374334989772511e-13</ixx>
            <ixy>3.697785493223493e-29</ixy>
            <ixz>0.0</ixz>
            <iyy>2.6162067675319995e-13</iyy>
            <iyz>0.0</iyz>
            <izz>5.4522754667390254e-14</izz>
          </inertia>
        </inertial>
        <collision name="RFPhalange5_collision">
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <geometry>
            <mesh>
              <uri>../meshes/stl/RFPhalange5.stl</uri>
              <scale>1.0 1.0 1.0</scale>
            </mesh>
          </geometry>
        </collision>
        <visual name="RFPhalange5_visual">
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <geometry>
            <mesh>
              <uri>../meshes/stl/RFPhalange5.stl</uri>
              <scale>1.0 1.0 1.0</scale>
            </mesh>
          </geometry>
          <material/>
        </visual>
      </link>
      <link name="world">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <mass>0.0</mass>
          <inertia>
            <ixx>0.0</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
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        </inertial>
      </link>
      <link name="prismatic_support_1">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <mass>0.0</mass>
          <inertia>
            <ixx>0.0</ixx>
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            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
        </inertial>
      </link>
      <link name="prismatic_support_2">
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <inertial>
          <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
          <mass>0.0</mass>
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            <ixx>0.0</ixx>
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            <ixz>0.0</ixz>
            <iyy>0.0</iyy>
            <iyz>0.0</iyz>
            <izz>0.0</izz>
          </inertia>
        </inertial>
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      <joint name="prismatic_support_1" type="fixed">
        <parent>world</parent>
        <child>prismatic_support_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>0.0 1.0 0.0</xyz>
          <limit>
            <lower>1.0</lower>
            <upper>-1.0</upper>
            <effort>0.0</effort>
            <velocity>100.0</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="prismatic_support_2" type="fixed">
        <parent>prismatic_support_1</parent>
        <child>prismatic_support_2</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>0.0 0.0 1.0</xyz>
          <limit>
            <lower>1.0</lower>
            <upper>-1.0</upper>
            <effort>0.0</effort>
            <velocity>100.0</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="fixed_support_1" type="fixed">
        <parent>prismatic_support_2</parent>
        <child>RScapula</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
        </axis>
      </joint>
      <joint name="RShoulder_rotation" type="revolute">
        <parent>RScapula</parent>
        <child>RHumerus_interim_0</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>0.0 0.0 1.0</xyz>
          <limit>
            <lower>-0.05235987755982989</lower>
            <upper>0.6283185307179586</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="RShoulder_adduction" type="revolute">
        <parent>RHumerus_interim_0</parent>
        <child>RHumerus_interim_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>0.0 1.0 0.0</xyz>
          <limit>
            <lower>-0.6981317007977318</lower>
            <upper>0.24434609527920614</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
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        </axis>
      </joint>
      <joint name="RShoulder_flexion" type="revolute">
        <parent>RHumerus_interim_1</parent>
        <child>RHumerus</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>-0.5410520681182421</lower>
            <upper>1.6929693744344996</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
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        </axis>
      </joint>
      <joint name="RElbow_flexion" type="revolute">
        <parent>RHumerus</parent>
        <child>RUlna</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>0.5235987755982988</lower>
            <upper>2.1467549799530254</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="RElbow_supination" type="revolute">
        <parent>RUlna</parent>
        <child>RRadius</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>0.0 0.0 1.0</xyz>
          <limit>
            <lower>-0.3490658503988659</lower>
            <upper>-0.3490658503988659</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="RRadius_interim_joint" type="revolute">
        <parent>RRadius</parent>
        <child>RRadius_interim</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>0.0 0.0 1.0</xyz>
          <limit>
            <lower>-3.141592653589793</lower>
            <upper>3.141592653589793</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="RWrist_inversion" type="revolute">
        <parent>RRadius_interim</parent>
        <child>RCarpus_interim_0</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>0.0 0.0 1.0</xyz>
          <limit>
            <lower>-0.3490658503988659</lower>
            <upper>0.3490658503988659</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="RWrist_adduction" type="revolute">
        <parent>RCarpus_interim_0</parent>
        <child>RCarpus_interim_1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>0.0 1.0 0.0</xyz>
          <limit>
            <lower>-0.3490658503988659</lower>
            <upper>0.3490658503988659</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
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        </axis>
      </joint>
      <joint name="RWrist_flexion" type="revolute">
        <parent>RCarpus_interim_1</parent>
        <child>RCarpus</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>0.3490658503988659</lower>
            <upper>-0.8726646259971648</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
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        </axis>
      </joint>
      <joint name="RMetaCarpus1_flexion" type="revolute">
        <parent>RCarpus</parent>
        <child>RMetaCarpus1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>-0.08726646259971647</lower>
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            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
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      <joint name="RMetaCarpus2_flexion" type="revolute">
        <parent>RCarpus</parent>
        <child>RMetaCarpus2</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
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            <lower>-0.08726646259971647</lower>
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            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
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      </joint>
      <joint name="RMetaCarpus3_flexion" type="revolute">
        <parent>RCarpus</parent>
        <child>RMetaCarpus3</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
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            <lower>-0.08726646259971647</lower>
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            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
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      </joint>
      <joint name="RMetaCarpus4_flexion" type="revolute">
        <parent>RCarpus</parent>
        <child>RMetaCarpus4</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>-0.08726646259971647</lower>
            <upper>0.08726646259971647</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="RMetaCarpus5_flexion" type="revolute">
        <parent>RCarpus</parent>
        <child>RMetaCarpus5</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>-0.08726646259971647</lower>
            <upper>0.08726646259971647</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
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        </axis>
      </joint>
      <joint name="RFPhalange1_flexion" type="revolute"> 
        <parent>RMetaCarpus1</parent>
        <child>RFPhalange1</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>-0.08726646259971647</lower>
            <upper>0.08726646259971647</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="RFPhalange2_flexion" type="revolute">
        <parent>RMetaCarpus2</parent>
        <child>RFPhalange2</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>-0.08726646259971647</lower>
            <upper>0.08726646259971647</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
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        </axis>
      </joint>
      <joint name="RFPhalange3_flexion" type="revolute">
        <parent>RMetaCarpus3</parent>
        <child>RFPhalange3</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>-0.08726646259971647</lower>
            <upper>0.08726646259971647</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="RFPhalange4_flexion" type="revolute">
        <parent>RMetaCarpus4</parent>
        <child>RFPhalange4</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>-0.08726646259971647</lower>
            <upper>0.08726646259971647</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
      <joint name="RFPhalange5_flexion" type="revolute">
        <parent>RMetaCarpus5</parent>
        <child>RFPhalange5</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
          <limit>
            <lower>-0.08726646259971647</lower>
            <upper>0.08726646259971647</upper>
            <effort>10000000000.0</effort>
            <velocity>628.3185307179587</velocity>
          </limit>
        </axis>
      </joint>
    </model>
  </world>
</sdf>