硬件规格
外骨骼手套 V2
型号：TeleGlove-Skel-V2
| 属性 | 参数 |
|---|---|
| 尺寸 | 20×15×10cm |
| 重量 | 195±5g |
| 关节数量 | 21 |
| 穿戴时间 | 5秒即可上手 |
| 反馈形式 | 5手指10级震动反馈 |
| 手套尺寸 | S/M |
| 连接方式 | 有线直连/连接无线模块 |
| 工作电压 | 5V |
| 工作时长 | 2.5-3H（与无线模块共用） |
| 环境 | 工作温度：0 °C ~ 40 °C；储存温度：-20 °C ~ 60 °C；湿度：10%~90%无冷凝；储存湿度：5%~95%无冷凝 |
| 数据输出 | 编码器/加速度计/陀螺仪 |
| 数据传输频率 | 120Hz |
| 磁编码器精度 | 1.0±0.2度 |
| 加速度测量范围 | ± 16 g |
| 陀螺仪测量范围 | ± 2000 deg/s |
配件
无线（Wi-Fi）模块
型号：TS-WM-WF
手背定位结构（pico）
型号：TS-PA-PICO
手指控制单元
型号：TS-FCM-L/TS-FCM-R
数据接口
输入
/io_esk/vibration_feedback
- Topic：
/io_esk/vibration_feedback - Type：std_msgs/Float64MultiArray
- 响应频率：120Hz
- 用途：用于外骨骼指尖振动反馈
- 内容解释：
// Float64MultiArray
// ros 官方msg
std_msgs/MultiArrayLayout layout
float64[] data
// 震动等级： 1-10级别，0为不震动
// 接收力反馈数据序号： 顺序: 0-4 右手，5-9 左手。
// 右手从thumb->pinky->ring->middle->index
// 左手从thumb->index->middle->ring->pinky
输出
/io_esk/joint_data
- Topic：
/io_esk/joint_data - Type：sensor_msgs/JointState.msg
- 输出频率：120Hz
- 用途：输出外骨骼手套关节编码器数据
/io_esk/joystick_data
- Topic：
/io_esk/joystick_data - Type：sensor_msgs/Joy.msg
- 输出频率：120Hz
- 用途：输出外骨骼手指控制单元摇杆数据
- 内容解释：
std_msgs/Header header
float32[2] axes #右
float32[2] axes #左
int32[4] buttons#右
int32[4] buttons#左
/io_esk/tf
- Topic：
/io_esk/tf - Type：tf2_msgs/TFMessage.msg
- 输出频率：120Hz
- 用途：输出外骨骼手套所有连杆数据
- 内容解释：外骨骼所有link的位置与姿态信息
//TFMessage.msg
geometry_msgs/TransformStamped[] transforms
发布tf为如下link相对于base_link的坐标变化：
tips（指尖）
right_hand
right_thumb_tip
right_index_tip
right_middle_tip
right_ring_tip
right_pinky_tip
left_hand
left_thumb_tip
left_index_tip
left_middle_tip
left_ring_tip
left_pinky_tip
exoskeleton（外骨骼连杆）
link_RightSkeletonBase
link_RightSkeletonThumbBase
link_RightSkeletonThumb1
link_RightSkeletonThumb2
link_RightSkeletonThumb3
link_RightSkeletonThumb4
link_RightSkeletonIndex1
link_RightSkeletonIndex2
link_RightSkeletonIndex3
link_RightSkeletonIndex4
link_RightSkeletonMiddle1
link_RightSkeletonMiddle2
link_RightSkeletonMiddle3
link_RightSkeletonMiddle4
link_RightSkeletonRing1
link_RightSkeletonRing2
link_RightSkeletonRing3
link_RightSkeletonRing4
link_RightSkeletonPinky1
link_RightSkeletonPinky2
link_RightSkeletonPinky3
link_RightSkeletonPinky4
link_LeftSkeletonBase
link_LeftSkeletonThumbBase
link_LeftSkeletonThumb1
link_LeftSkeletonThumb2
link_LeftSkeletonThumb3
link_LeftSkeletonThumb4
link_LeftSkeletonIndex1
link_LeftSkeletonIndex2
link_LeftSkeletonIndex3
link_LeftSkeletonIndex4
link_LeftSkeletonMiddle1
link_LeftSkeletonMiddle2
link_LeftSkeletonMiddle3
link_LeftSkeletonMiddle4
link_LeftSkeletonRing1
link_LeftSkeletonRing2
link_LeftSkeletonRing3
link_LeftSkeletonRing4
link_LeftSkeletonPinky1
link_LeftSkeletonPinky2
link_LeftSkeletonPinky3
link_LeftSkeletonPinky4
参考 URDF
tf 对应的 URDF 如下（blender_human_skeleton_v4.urdf）：
<?xml version='1.0' encoding='utf-8'?>
<robot name="skeleton_hands">
<link name="base_link" />
<link name="link_RightSkeletonBase">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_base_link.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_base_link.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00796015810167955 -0.0223806324874924 -0.00754865265348615" rpy="0 0 0" />
<mass value="0.0381015295019329" />
<inertia ixx="1.57718800745917E-05" ixy="6.20482209711992E-07" ixz="-6.07587294987589E-07" iyy="2.35787256108512E-05" iyz="-3.31320823452304E-07" izz="3.85148762850539E-05" />
</inertial>
</link>
<link name="link_RightSkeletonThumbBase">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1base.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1base.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00565122071301274 -0.000501255972792568 0.0144743281019806" rpy="0 0 0" />
<mass value="0.00503517876942867" />
<inertia ixx="3.0284978913365E-07" ixy="-4.84190552283924E-09" ixz="4.64240301448541E-08" iyy="4.03125978353386E-07" iyz="1.09069756102581E-08" izz="1.64098939217181E-07" />
</inertial>
</link>
<link name="link_RightSkeletonThumb1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1_1.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1_1.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00103307505347316 0.00184077480530574 0.00372077729598377" rpy="0 0 0" />
<mass value="0.00142104750359472" />
<inertia ixx="7.34398085023081E-08" ixy="-2.41328511399796E-09" ixz="-3.3240568542648E-09" iyy="4.17889579868087E-08" iyz="-1.49123152617831E-08" izz="4.72743798877277E-08" />
</inertial>
</link>
<link name="link_RightSkeletonThumb2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1_2.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1_2.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00232322870955951 0.0181721928412631 0.0329507487373648" rpy="0 0 0" />
<mass value="0.00619479805127885" />
<inertia ixx="3.99788034904245E-06" ixy="-5.39381049868907E-09" ixz="3.61902852797014E-09" iyy="2.30653492100461E-06" iyz="-1.85763694879346E-06" izz="1.73763444181624E-06" />
</inertial>
</link>
<link name="link_RightSkeletonThumb3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1_3.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1_3.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00212757980775651 0.00134841278506191 0.019940757393612" rpy="0 0 0" />
<mass value="0.00375708793059457" />
<inertia ixx="7.71326509106515E-07" ixy="-1.5101709953254E-09" ixz="6.67792513897098E-09" iyy="7.24505391043061E-07" iyz="-1.00538276089503E-07" izz="7.39249486010084E-08" />
</inertial>
</link>
<link name="link_RightSkeletonThumb4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1_4.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer1_4.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00269144829495772 0.00131123432438183 -0.0106491104624541" rpy="0 0 0" />
<mass value="0.00283813885886545" />
<inertia ixx="2.95191006974025E-07" ixy="1.71597808354591E-09" ixz="-1.5368571085107E-08" iyy="2.53523111794926E-07" iyz="4.47728143031876E-09" izz="9.65716906164859E-08" />
</inertial>
</link>
<link name="link_RightSkeletonIndex1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer2_1.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer2_1.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00103307504266343 0.00184077481598622 0.00372077728256266" rpy="0 0 0" />
<mass value="0.00142104749535094" />
<inertia ixx="7.34398089807809E-08" ixy="-2.41328507686512E-09" ixz="-3.32405672713572E-09" iyy="4.1788957914828E-08" iyz="-1.49123154155797E-08" izz="4.72743801943149E-08" />
</inertial>
</link>
<link name="link_RightSkeletonIndex2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer2_2.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer2_2.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00225494995541581 0.0152388468351605 0.0296839473890663" rpy="0 0 0" />
<mass value="0.00558495756330841" />
<inertia ixx="2.91836620840625E-06" ixy="-4.14851984558481E-09" ixz="4.21806668429099E-09" iyy="1.74531636320502E-06" iyz="-1.32500629306026E-06" izz="1.21440970517614E-06" />
</inertial>
</link>
<link name="link_RightSkeletonIndex3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer2_3.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer2_3.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00235572032002532 0.021473120708047 0.0285487191425626" rpy="0 0 0" />
<mass value="0.00663685611795157" />
<inertia ixx="4.2149172670233E-06" ixy="-3.2931532345881E-09" ixz="1.81725175793322E-08" iyy="1.11332596242003E-06" iyz="-1.23177219223019E-06" izz="3.14896536873041E-06" />
</inertial>
</link>
<link name="link_RightSkeletonIndex4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer2_4.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer2_4.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0026914180675609 0.00131123336884371 -0.0106491162895952" rpy="0 0 0" />
<mass value="0.00283814206573991" />
<inertia ixx="2.95191305819849E-07" ixy="1.71594002207152E-09" ixz="-1.53679050089507E-08" iyy="2.535226738251E-07" iyz="4.47721015720482E-09" izz="9.6571438657795E-08" />
</inertial>
</link>
<link name="link_RightSkeletonMiddle1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer3_1.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer3_1.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00103307508570481 0.00184077478338782 0.0037207773602195" rpy="0 0 0" />
<mass value="0.00142104751859945" />
<inertia ixx="7.3439809623175E-08" ixy="-2.41328476584004E-09" ixz="-3.32405702526707E-09" iyy="4.17889587410191E-08" iyz="-1.49123151802322E-08" izz="4.72743806400365E-08" />
</inertial>
</link>
<link name="link_RightSkeletonMiddle2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer3_2.STL" />
</geometry>
<material name="">
<color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer3_2.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00225495233843075 0.0152388460708894 0.029683944118068" rpy="0 0 0" />
<mass value="0.00558495686016827" />
<inertia ixx="2.91836682320128E-06" ixy="-4.14856599032089E-09" ixz="4.21793857169474E-09" iyy="1.74531712287045E-06" iyz="-1.32500694741923E-06" izz="1.21440950221904E-06" />
</inertial>
</link>
<link name="link_RightSkeletonMiddle3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer3_3.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer3_3.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00235572479349241 0.0214731366915545 0.0285487400327757" rpy="0 0 0" />
<mass value="0.00663684957658263" />
<inertia ixx="4.21491005720671E-06" ixy="-3.29390834910374E-09" ixz="1.8171772300357E-08" iyy="1.11332106780687E-06" iyz="-1.2317692593153E-06" izz="3.14896228623323E-06" />
</inertial>
</link>
<link name="link_RightSkeletonMiddle4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer3_4.STL" />
</geometry>
<material name="">
<color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer3_4.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00269142354774019 -0.000938576252218395 -0.0139532868338926" rpy="0 0 0" />
<mass value="0.00283813730192772" />
<inertia ixx="2.95191343112668E-07" ixy="1.71603422344851E-09" ixz="-1.53680591698325E-08" iyy="2.53522363104874E-07" iyz="4.47723638318037E-09" izz="9.65713727636697E-08" />
</inertial>
</link>
<link name="link_RightSkeletonRing1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer4_1.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer4_1.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00103307508570481 0.00184077478338781 0.0037207773602195" rpy="0 0 0" />
<mass value="0.00142104751859945" />
<inertia ixx="7.34398096231749E-08" ixy="-2.41328476584003E-09" ixz="-3.32405702526709E-09" iyy="4.1788958741019E-08" iyz="-1.49123151802322E-08" izz="4.72743806400364E-08" />
</inertial>
</link>
<link name="link_RightSkeletonRing2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer4_2.STL" />
</geometry>
<material name="">
<color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer4_2.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00225495233843075 0.0152388460708892 0.029683944118067" rpy="0 0 0" />
<mass value="0.00558495686016845" />
<inertia ixx="2.9183668263298E-06" ixy="-4.14856589933394E-09" ixz="4.21793867181136E-09" iyy="1.7453171255457E-06" iyz="-1.32500694813122E-06" izz="1.21440950270268E-06" />
</inertial>
</link>
<link name="link_RightSkeletonRing3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer4_3.STL" />
</geometry>
<material name="">
<color rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer4_3.STL" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00235572454769539 0.0214731363844119 0.0285487393993492" rpy="0 0 0" />
<mass value="0.00663684971073181" />
<inertia ixx="4.21491023862972E-06" ixy="-3.29387584199395E-09" ixz="1.81718097893476E-08" iyy="1.11332120740036E-06" iyz="-1.23176935213484E-06" izz="3.14896233832563E-06" />
</inertial>
</link>
<link name="link_RightSkeletonRing4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://io_mocap/description/meshes/R_figer4_4.STL" />
</geometry>
<material name="">
<color rgba="0.615686274509804 0.643137254901961 0.674509803921569 1" />
</material>
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<joint name="joint_RightSkeletonPinky3" type="revolute">
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<joint name="joint_RightSkeletonPinky4" type="revolute">
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<joint name="joint_LeftSkeletonThumbBase" type="revolute">
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<joint name="joint_LeftSkeletonThumb1" type="revolute">
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<joint name="joint_LeftSkeletonThumb2" type="revolute">
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<joint name="joint_LeftSkeletonThumb3" type="revolute">
<origin xyz="0 0.050552 0.068334" rpy="-0.81433 0 0" />
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<joint name="joint_LeftSkeletonThumb4" type="revolute">
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<joint name="joint_LeftSkeletonIndex1" type="revolute">
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<joint name="joint_LeftSkeletonIndex2" type="revolute">
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<joint name="joint_LeftSkeletonIndex3" type="revolute">
<origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
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<child link="link_LeftSkeletonIndex3" />
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<joint name="joint_LeftSkeletonIndex4" type="revolute">
<origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
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<joint name="joint_LeftSkeletonMiddle1" type="revolute">
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<joint name="joint_LeftSkeletonMiddle2" type="revolute">
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<joint name="joint_LeftSkeletonMiddle3" type="revolute">
<origin xyz="0 0.043889 0.062046" rpy="0.46849 0 0" />
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<child link="link_LeftSkeletonMiddle3" />
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<joint name="joint_LeftSkeletonMiddle4" type="revolute">
<origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
<parent link="link_LeftSkeletonMiddle3" />
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<joint name="joint_LeftSkeletonRing1" type="revolute">
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<child link="link_LeftSkeletonRing1" />
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<joint name="joint_LeftSkeletonRing2" type="revolute">
<origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
<parent link="link_LeftSkeletonRing1" />
<child link="link_LeftSkeletonRing2" />
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<joint name="joint_LeftSkeletonRing3" type="revolute">
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<child link="link_LeftSkeletonRing3" />
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<joint name="joint_LeftSkeletonRing4" type="revolute">
<origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
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<child link="link_LeftSkeletonRing4" />
<axis xyz="1 0 0" />
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<joint name="joint_LeftSkeletonPinky1" type="revolute">
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<parent link="link_LeftSkeletonBase" />
<child link="link_LeftSkeletonPinky1" />
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<joint name="joint_LeftSkeletonPinky2" type="revolute">
<origin xyz="0.0036 0.0074761 0.0074414" rpy="-0.75647 0 0" />
<parent link="link_LeftSkeletonPinky1" />
<child link="link_LeftSkeletonPinky2" />
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<joint name="joint_LeftSkeletonPinky3" type="revolute">
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<child link="link_LeftSkeletonPinky3" />
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<joint name="joint_LeftSkeletonPinky4" type="revolute">
<origin xyz="0 0.064952 0.0375" rpy="1.2217 0 0" />
<parent link="link_LeftSkeletonPinky3" />
<child link="link_LeftSkeletonPinky4" />
<axis xyz="1 0 0" />
<limit lower="0" upper="0" effort="0" velocity="0" />
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<joint name="right_thumb_tip_joint" type="fixed">
<origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
<parent link="link_RightSkeletonThumb4" />
<child link="right_thumb_tip" />
</joint>
<joint name="right_index_tip_joint" type="fixed">
<origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
<parent link="link_RightSkeletonIndex4" />
<child link="right_index_tip" />
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<joint name="right_middle_tip_joint" type="fixed">
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<parent link="link_RightSkeletonMiddle4" />
<child link="right_middle_tip" />
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<joint name="right_ring_tip_joint" type="fixed">
<origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
<parent link="link_RightSkeletonRing4" />
<child link="right_ring_tip" />
</joint>
<joint name="right_pinky_tip_joint" type="fixed">
<origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
<parent link="link_RightSkeletonPinky4" />
<child link="right_pinky_tip" />
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<joint name="left_thumb_tip_joint" type="fixed">
<origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
<parent link="link_LeftSkeletonThumb4" />
<child link="left_thumb_tip" />
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<joint name="left_index_tip_joint" type="fixed">
<origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
<parent link="link_LeftSkeletonIndex4" />
<child link="left_index_tip" />
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<joint name="left_middle_tip_joint" type="fixed">
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<parent link="link_LeftSkeletonMiddle4" />
<child link="left_middle_tip" />
</joint>
<joint name="left_ring_tip_joint" type="fixed">
<origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
<parent link="link_LeftSkeletonRing4" />
<child link="left_ring_tip" />
</joint>
<joint name="left_pinky_tip_joint" type="fixed">
<origin xyz="-0.0026 0.005 -0.027" rpy="0 0 0" />
<parent link="link_LeftSkeletonPinky4" />
<child link="left_pinky_tip" />
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<joint name="joint_right_hand" type="fixed">
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<parent link="link_RightSkeletonBase" />
<child link="right_hand" />
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<joint name="joint_left_hand" type="fixed">
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<parent link="link_LeftSkeletonBase" />
<child link="left_hand" />
</joint>
<link
name="Rgamepadbase">
<inertial>
<origin
xyz="0.0031077 0.021669 0.0084989"
rpy="0 0 0" />
<mass
value="0.02843" />
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ixx="1.9843E-05"
ixy="-3.9906E-07"
ixz="-5.063E-07"
iyy="9.7174E-06"
iyz="-3.9711E-06"
izz="2.0273E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://io_mocap/description/meshes/Rgamepadbase.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
</link>
<link
name="Rgamepad">
<inertial>
<origin
xyz="0.00893 -0.041415 -0.020604"
rpy="0 0 0" />
<mass
value="0.021713" />
<inertia
ixx="4.7609E-06"
ixy="-3.6668E-07"
ixz="-2.4931E-07"
iyy="1.9878E-06"
iyz="-1.3791E-06"
izz="3.9524E-06" />
</inertial>
</link>
<joint name="Rgamebase_joint" type="fixed" >
<origin xyz="0.0097906 -0.039958 0.0172" rpy="0 0 1.4509" />
<parent link="link_RightSkeletonBase" />
<child link="Rgamepadbase" />
</joint>
<joint
name="Rgamepad_joint"
type="fixed">
<origin
xyz="-0.035927 0.0795 0.020469"
rpy="2.8795 0.79734 -2.0538" />
<parent
link="Rgamepadbase" />
<child
link="Rgamepad" />
<axis
xyz="0 0 0" />
</joint>
<link
name="Lgamepadbase">
<inertial>
<origin
xyz="0.0030876 -0.021663 0.0084916"
rpy="0 0 0" />
<mass
value="0.028422" />
<inertia
ixx="1.9837E-05"
ixy="3.9965E-07"
ixz="-5.0714E-07"
iyy="9.714E-06"
iyz="3.9687E-06"
izz="2.0269E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://io_mocap/description/meshes/Lgamepadbase.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
</link>
<link
name="Lgamepad">
<inertial>
<origin
xyz="0.11839 0.017119 0.1301"
rpy="0 0 0" />
<mass
value="0.021713" />
<inertia
ixx="2.7073E-06"
ixy="1.5308E-06"
ixz="-7.3415E-07"
iyy="3.4923E-06"
iyz="6.6424E-07"
izz="4.5015E-06" />
</inertial>
</link>
<joint name="Lgamebase_joint" type="fixed" >
<origin xyz="-0.0097906 -0.039958 0.0172" rpy="0 0 1.6907" />
<parent link="link_LeftSkeletonBase" />
<child link="Lgamepadbase" />
</joint>
<joint
name="Lgamepad_joint"
type="fixed">
<origin
xyz="-0.035948 -0.079502 0.020469"
rpy="2.8795 -0.79734 -1.0878" />
<parent
link="Lgamepadbase" />
<child
link="Lgamepad" />
<axis
xyz="0 0 0" />
</joint>
</robot>