faze4-hand-tracking/faze4.urdf at main · HSTE21/faze4-hand-tracking · GitHub

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<?xml version="1.0" ?>
<robot name="faze4">
  <link name="base_link" />

  <link name="link_1" />
  <joint name="joint_1" type="revolute">
    <parent link="base_link"/>
    <child link="link_1"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.1415" upper="3.1415" effort="100" velocity="3"/>
  </joint>

  <link name="link_2" />
  <joint name="joint_2" type="revolute">
    <parent link="link_1"/>
    <child link="link_2"/>
    <origin xyz="0 0 0.2358" rpy="-1.5707963 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.1415" upper="3.1415" effort="100" velocity="3"/>
  </joint>

  <link name="link_3" />
  <joint name="joint_3" type="revolute">
    <parent link="link_2"/>
    <child link="link_3"/>
    <origin xyz="0.32 0 0" rpy="-3.1415926 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.1415" upper="3.1415" effort="100" velocity="3"/>
  </joint>

  <link name="link_4" />
  <joint name="joint_4" type="revolute">
    <parent link="link_3"/>
    <child link="link_4"/>
    <origin xyz="0.0735 0 0" rpy="-1.5707963 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.1415" upper="3.1415" effort="100" velocity="3"/>
  </joint>

  <link name="link_5" />
  <joint name="joint_5" type="revolute">
    <parent link="link_4"/>
    <child link="link_5"/>
    <origin xyz="0 0 -0.2507" rpy="1.5707963 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.1415" upper="3.1415" effort="100" velocity="3"/>
  </joint>

  <link name="link_6" />
  <joint name="joint_6" type="revolute">
    <parent link="link_5"/>
    <child link="link_6"/>
    <origin xyz="0 0 0" rpy="-1.5707963 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.1415" upper="3.1415" effort="100" velocity="3"/>
  </joint>

  <link name="end_effector" />
  <joint name="joint_ee" type="fixed">
    <parent link="link_6"/>
    <child link="end_effector"/>
    <origin xyz="0 0 0.056" rpy="3.1415926 0 0"/>
  </joint>
</robot>