Initial commit

arm_1dof/demo_human_col/meshes/distal.mtl

@@ -0,0 +1,42 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 4
+
+newmtl mymaterial.024
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.031
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.034
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.035
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/meshes/forearm.mtl

@@ -0,0 +1,22 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 2
+
+newmtl mymaterial.037
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.038
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/meshes/hand.mtl

@@ -0,0 +1,132 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 13
+
+newmtl mymaterial.008
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.009
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.010
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.011
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.012
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.013
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.014
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.016
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.017
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.018
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.019
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.039
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.044
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/meshes/middle.mtl

@@ -0,0 +1,42 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 4
+
+newmtl mymaterial.023
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.025
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.027
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.033
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/meshes/proximal.mtl

@@ -0,0 +1,42 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 4
+
+newmtl mymaterial.022
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.026
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.030
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.032
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/meshes/skeleton.mtl

@@ -0,0 +1,62 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 6
+
+newmtl mymaterial
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.002
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.004
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.040
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl mymaterial.041
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/meshes/thumb_1.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 1
+
+newmtl mymaterial.015
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/meshes/thumb_2.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 1
+
+newmtl mymaterial.021
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/meshes/thumb_3.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 1
+
+newmtl mymaterial.020
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/meshes/upper_arm.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'skeleton_combined_fingers.blend'
+# Material Count: 1
+
+newmtl mymaterial.003
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

arm_1dof/demo_human_col/model.config

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>Demonstrator Human Model</name>
+  <version>1.0</version>
+  <sdf version='1.5'>skeleton.sdf</sdf>
+
+  <author>
+    <name>Michael Zechmair</name>
+    <email>m.zechmair@maastrichtuniversity.nl</email>
+  </author>
+
+  <description>
+    Upper half of human skeleton with actuated right arm, hand, and fingers. Fingers are joined together
+  </description>
+</model>

arm_1dof/demo_human_col/skeleton.sdf

@@ -0,0 +1,463 @@
+<?xml version='1.0'?>
+<sdf version="1.5">
+    <model name="skeleton">
+        <pose>0 0 0 0 -0 0</pose>
+        <link name="skeleton">
+            <pose>-0.02371838688850403 -0.006475403904914856 1.7455708980560303 1.5707963705062866 -0.0 0.0</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.20000000298023224</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 -1.5757 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/skeleton.dae</uri></mesh>
+                </geometry>
+            </visual>
+            <collision name="collision">
+                <pose>0 0 0 -1.5757 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/skeleton.dae</uri></mesh>
+                </geometry>
+            </collision>
+        </link>
+        <link name="upper_arm">
+            <pose>-0.017282448709011078 -0.1665889173746109 1.6547614336013794 1.5707963705062866 -0.0 0.0</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.19999998807907104</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/upper_arm.obj</uri></mesh>
+                </geometry>
+            </visual>
+            <collision name="collision">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/upper_arm.obj</uri></mesh>
+                </geometry>
+            </collision>
+        </link>
+        <link name="forearm">
+            <pose>-0.015147986821830273 -0.19349825382232666 1.3854427337646484 1.5707963705062866 -0.0 0.0</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.19999998807907104</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/forearm.obj</uri></mesh>
+                </geometry>
+            </visual>
+            <collision name="collision">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/forearm.obj</uri></mesh>
+                </geometry>
+            </collision>
+        </link>
+        <link name="hand">
+            <pose>0.00017236836720257998 -0.22414515912532806 1.2197521924972534 1.5707963705062866 -0.0 0.0</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.19999998807907104</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/hand.obj</uri></mesh>
+                </geometry>
+            </visual>
+            <collision name="collision">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/hand_col.dae</uri></mesh>
+                </geometry>
+                <surface>
+                    <friction>
+                        <ode>
+                            <mu>10</mu>
+                            <mu2>10</mu2>
+                        </ode>
+                    </friction>
+		        </surface>
+            </collision>
+        </link>
+	<link name="thumb_1">
+            <pose>0.01882072165608406 -0.2590509057044983 1.2172046899795532 1.5707963705062866 -0.0 0.0</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.19999998807907104</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/thumb_1.obj</uri></mesh>
+                </geometry>
+            </visual>
+	        <!--<collision name="collision">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/thumb_1.obj</uri></mesh>
+                </geometry>
+	        </collision>-->
+        </link>
+        <link name="thumb_2">
+            <pose>0.035507991909980774 -0.2781006395816803 1.1910896301269531 1.5707963705062866 2.980238988925521e-08 -3.7253098383871475e-09</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.19999998807907104</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/thumb_2.obj</uri></mesh>
+                </geometry>
+            </visual>
+	        <!--<collision name="collision">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/thumb_2.obj</uri></mesh>
+                </geometry>
+	        </collision>-->
+        </link>
+        <link name="thumb_3">
+            <pose>0.04606077820062637 -0.29002290964126587 1.1742767095565796 1.5381336212158203 -0.012799005955457687 -0.015970906242728233</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.19999998807907104</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/thumb_3.obj</uri></mesh>
+                </geometry>
+            </visual>
+	        <!--<collision name="collision">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/thumb_3.obj</uri></mesh>
+                </geometry>
+	        </collision>-->
+        </link>
+        <link name="proximal">
+            <pose>0.004435993731021881 -0.23311419785022736 1.1511282920837402 1.5707964897155762 0.049396030604839325 1.5318446511258799e-09</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.19999998807907104</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/proximal.obj</uri></mesh>
+                </geometry>
+            </visual>
+            <collision name="collision">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/proximal_col.dae</uri></mesh>
+                </geometry>
+                <surface>
+                    <friction>
+                        <ode>
+                            <mu>10</mu>
+                            <mu2>10</mu2>
+                        </ode>
+                    </friction>
+                </surface>
+            </collision>
+        </link>
+        <link name="middle">
+            <pose>0.01475201454013586 -0.23537978529930115 1.1197322607040405 1.5707963705062866 -0.12925152480602264 -1.8796277034827114e-10</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.19999998807907104</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/middle.obj</uri></mesh>
+                </geometry>
+            </visual>
+            <collision name="collision">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/middle_col.dae</uri></mesh>
+                </geometry>
+                <surface>
+                    <friction>
+                        <ode>
+                            <mu>10</mu>
+                            <mu2>10</mu2>
+                        </ode>
+                    </friction>
+                </surface>
+            </collision>
+        </link>
+        <link name="distal">
+            <pose>0.024000873789191246 -0.2371281534433365 1.1017308235168457 1.5707963705062866 -0.14935961365699768 4.265647834955644e-09</pose>
+            <inertial>
+                <inertia>
+                    <ixx>0.0001</ixx>
+                    <ixy>0</ixy>
+                    <ixz>0</ixz>
+                    <iyy>0.0001</iyy>
+                    <iyz>0</iyz>
+                    <izz>0.0001</izz>
+                </inertia>
+                <mass>0.19999998807907104</mass>
+            </inertial>
+            <visual name="visual">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/distal.obj</uri></mesh>
+                </geometry>
+            </visual>
+            <collision name="collision">
+                <pose>0 0 0 0 -0 0</pose>
+                <geometry>
+                    <mesh><uri>model://demo_human_col/meshes/distal.obj</uri></mesh>
+                </geometry>
+                <surface>
+                    <friction>
+                        <ode>
+                            <mu>10</mu>
+                            <mu2>10</mu2>
+                        </ode>
+                    </friction>
+                </surface>
+            </collision>
+        </link>
+        
+        <!-- <joint name="world_root" type="fixed">
+            <parent>world</parent>
+            <child>skeleton</child>
+        </joint> -->
+        <joint name="shoulder_joint" type="revolute">
+            <parent>skeleton</parent>
+            <child>upper_arm</child>
+            <pose>-0.0002625510096549988 0.1382385492324829 0.0034110769629478455 5.479091100824007e-07 -4.2146872658577195e-08 -1.570796251296997</pose>
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-0.1</lower>
+                    <upper>0.7853981852531433</upper>
+                </limit>
+            </axis>
+            <dynamics>
+                <spring_reference>0.4</spring_reference>
+                <spring_stiffness>20</spring_stiffness>
+                <damping>4</damping>
+            </dynamics>
+        </joint>
+        <joint name="elbow_joint" type="revolute">
+            <parent>upper_arm</parent>
+            <child>forearm</child>
+            <pose>0.003702986752614379 0.11655723303556442 -0.035798244178295135 5.479091100824007e-07 -4.2146872658577195e-08 -1.570796251296997</pose>
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>0.0</lower>
+                    <upper>1.5707963705062866</upper>
+                </limit>
+            </axis>
+                <dynamics>
+                    <spring_reference>0.2</spring_reference>
+                    <spring_stiffness>5</spring_stiffness>
+                    <damping>1</damping>
+                </dynamics>
+        </joint>
+        <joint name="hand_joint_1" type="fixed">
+            <parent>forearm</parent>
+            <child>hand</child>
+            <pose>-0.003728454699739814 0.04303407669067383 -0.002157732844352722 5.479091100824007e-07 -4.2146872658577195e-08 -1.570796251296997</pose>
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>0.0</lower>
+                    <upper>1.5707963705062866</upper>
+                </limit>
+                <dynamics>
+                    <spring_reference>0</spring_reference>
+                    <spring_stiffness>10</spring_stiffness>
+                    <damping>1</damping>
+                </dynamics>
+            </axis>
+        </joint>
+        <joint name="proximal_joint" type="revolute">
+            <parent>hand</parent>
+            <child>proximal</child>
+            <pose>-0.006849215365946293 0.01723306067287922 -0.006170365028083324 0.18470512330532074 -0.15172354876995087 -1.2801685333251953</pose>
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>0.0</lower>
+                    <!-- <upper>2.268928028</upper> -->
+                    <upper>2.0</upper>
+                </limit>
+                <dynamics>
+                    <spring_reference>2.0</spring_reference>
+                    <spring_stiffness>0.5</spring_stiffness>
+                    <damping>0.01</damping>
+                </dynamics>
+            </axis>
+        </joint>
+        <joint name="thumb_joint_01" type="fixed">
+            <parent>hand</parent>
+            <child>thumb_1</child>
+            <pose>-0.01046721264719963 0.01605987548828125 -0.016701191663742065 -2.392087459564209 -0.6794252395629883 -0.9853883385658264</pose>
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>-0.7853981852531433</lower>
+                    <upper>0.7853981852531433</upper>
+                </limit>
+                <dynamics>
+                    <spring_reference>0</spring_reference>
+                    <spring_stiffness>1</spring_stiffness>
+                    <damping>0.1</damping>
+                </dynamics>
+            </axis>
+        </joint>
+        <joint name="thumb_joint_12" type="fixed">
+            <parent>thumb_1</parent>
+            <child>thumb_2</child>
+            <pose>-0.007540013175457716 0.013107539154589176 -0.009685487486422062 -1.7563650608062744 -0.576974093914032 -1.0101017951965332</pose>
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>0.0</lower>
+                    <upper>1.5707963705062866</upper>
+                </limit>
+                <dynamics>
+                    <spring_reference>0</spring_reference>
+                    <spring_stiffness>1</spring_stiffness>
+                    <damping>0.1</damping>
+                </dynamics>
+            </axis>
+        </joint>
+        <joint name="thumb_joint_23" type="fixed">
+            <parent>thumb_2</parent>
+            <child>thumb_3</child>
+            <pose>-0.004397843033075333 0.006628620438277721 -0.00488283671438694 -1.7522913217544556 -0.5405974984169006 -1.0248005390167236</pose>
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>0.0</lower>
+                    <upper>1.5707963705062866</upper>
+                </limit>
+                <dynamics>
+                    <spring_reference>0</spring_reference>
+                    <spring_stiffness>1</spring_stiffness>
+                    <damping>0.1</damping>
+                </dynamics>
+            </axis>
+        </joint>
+        <joint name="middle_joint" type="revolute">
+            <parent>proximal</parent>
+            <child>middle</child>
+            <pose>-0.005126905627548695 0.008538579568266869 -0.001958192093297839 0.18470518290996552 -0.1517234593629837 -1.4588162899017334</pose>
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>0.0</lower>
+                    <upper>1.5707963705062866</upper>
+                </limit>
+                <dynamics>
+                    <spring_reference>1.57</spring_reference>
+                    <spring_stiffness>0.5</spring_stiffness>
+                    <damping>0.1</damping>
+                </dynamics>
+            </axis>
+        </joint>
+        <joint name="distal_joint" type="revolute">
+            <parent>middle</parent>
+            <child>distal</child>
+            <pose>-0.0028767052572220564 0.0012630047276616096 -0.0008793922024779022 0.18470518290996552 -0.1517234444618225 -1.4789243936538696</pose>
+            <axis>
+                <xyz>0 0 1</xyz>
+                <limit>
+                    <lower>0.0</lower>
+                    <upper>1.5707963705062866</upper>
+                </limit>
+                <dynamics>
+                    <spring_reference>1.57</spring_reference>
+                    <spring_stiffness>0.5</spring_stiffness>
+                    <damping>0.01</damping>
+                </dynamics>
+            </axis>
+        </joint>
+        <plugin name="CapMaterial" filename="ModelCapacitivePropertiesPlugin.so">
+            <RelativePermittivity>100000.0</RelativePermittivity>
+            <!-- <CylLength></CylLength>
+            <CylRadius></CylRadius>
+            <NumWedges></NumWedges> -->
+        </plugin>
+    </model>
+</sdf>

arm_1dof/demo_human_col/skeleton.urdf

@@ -0,0 +1,238 @@
+<?xml version="1.0" ?>
+<robot name="skeleton">
+  <joint name="skeleton__shoulder_joint" type="revolute">
+    <parent link="skeleton__skeleton"/>
+    <child link="skeleton__upper_arm"/>
+    <origin xyz="-0.01754 -0.17     1.793" rpy="1.59151 1.57079 0.02072"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.1" upper="0.7853981852531433" effort="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="skeleton__elbow_joint" type="revolute">
+    <parent link="skeleton__upper_arm"/>
+    <child link="skeleton__forearm"/>
+    <origin xyz="0.29099  0.0061  -0.0123" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="skeleton__hand_joint_1" type="fixed">
+    <parent link="skeleton__forearm"/>
+    <child link="skeleton__hand"/>
+    <origin xyz="0.23921 0.00788 0.06428" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="skeleton__proximal_joint" type="revolute">
+    <parent link="skeleton__hand"/>
+    <child link="skeleton__proximal"/>
+    <origin xyz="0.0941  0.002   0.00495" rpy="0.1847  -0.15172  0.24123"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="2.0" effort="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="skeleton__thumb_joint_01" type="fixed">
+    <parent link="skeleton__hand"/>
+    <child link="skeleton__thumb_1"/>
+    <origin xyz="0.02952 0.01191 0.02036" rpy="-2.39208 -0.67942  0.5854"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.7853981852531433" upper="0.7853981852531433" effort="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="skeleton__thumb_joint_12" type="fixed">
+    <parent link="skeleton__thumb_1"/>
+    <child link="skeleton__thumb_2"/>
+    <origin xyz="0.04365 0.00098 0.00148" rpy="0.61859 -0.06067  0.08498"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="skeleton__thumb_joint_23" type="fixed">
+    <parent link="skeleton__thumb_2"/>
+    <child link="skeleton__thumb_3"/>
+    <origin xyz="0.03175  0.0012  -0.00069" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="skeleton__middle_joint" type="revolute">
+    <parent link="skeleton__proximal"/>
+    <child link="skeleton__middle"/>
+    <origin xyz="0.04285 0      0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="skeleton__distal_joint" type="revolute">
+    <parent link="skeleton__middle"/>
+    <child link="skeleton__distal"/>
+    <origin xyz="0.02734  0.00572 -0.00241" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
+  </joint>
+  <link name="skeleton__skeleton">
+    <inertial>
+      <mass value="0.20000000298023224"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <collision name="skeleton__collision">
+      <origin xyz="-0.02371 -0.00647  1.74557" rpy="-0.0049  0      0"/>
+      <geometry>
+        <mesh filename="package://meshes/skeleton.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <visual name="skeleton__visual">
+      <origin xyz="-0.02371 -0.00647  1.74557" rpy="-0.0049  0      0"/>
+      <geometry>
+        <mesh filename="package://meshes/skeleton.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="skeleton__upper_arm">
+    <inertial>
+      <mass value="0.19999998807907104"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <collision name="skeleton__collision">
+      <origin xyz="0.13823  0.00026 -0.00341" rpy="0      0      1.57079"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/upper_arm.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <visual name="skeleton__visual">
+      <origin xyz="0.13823  0.00026 -0.00341" rpy="0      0      1.57079"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/upper_arm.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="skeleton__forearm">
+    <inertial>
+      <mass value="0.19999998807907104"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <collision name="skeleton__collision">
+      <origin xyz="0.11655 -0.0037   0.03579" rpy="0      0      1.57079"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/forearm.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <visual name="skeleton__visual">
+      <origin xyz="0.11655 -0.0037   0.03579" rpy="0      0      1.57079"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/forearm.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="skeleton__hand">
+    <inertial>
+      <mass value="0.19999998807907104"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <collision name="skeleton__collision">
+      <origin xyz="0.04303 0.00372 0.00215" rpy="0      0      1.57079"/>
+      <geometry>
+        <mesh filename="package://meshes/hand_col.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <visual name="skeleton__visual">
+      <origin xyz="0.04303 0.00372 0.00215" rpy="0      0      1.57079"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/hand.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="skeleton__thumb_1">
+    <inertial>
+      <mass value="0.19999998807907104"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <visual name="skeleton__visual">
+      <origin xyz="0.0254  -0.00053 -0.00079" rpy="-3.1294  -0.96488 -0.71552"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/thumb_1.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="skeleton__thumb_2">
+    <inertial>
+      <mass value="0.19999998807907104"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <visual name="skeleton__visual">
+      <origin xyz="0.01794  0.00023 -0.00055" rpy="1.91061 -1.08836  0.28141"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/thumb_2.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="skeleton__thumb_3">
+    <inertial>
+      <mass value="0.19999998807907104"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <visual name="skeleton__visual">
+      <origin xyz="0.00932 -0.00015  0.00029" rpy="1.91527 -1.09474  0.23923"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/thumb_3.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="skeleton__proximal">
+    <inertial>
+      <mass value="0.19999998807907104"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <collision name="skeleton__collision">
+      <origin xyz="0.01919 0.0022  0.00295" rpy="0.09206 0.2203  1.27627"/>
+      <geometry>
+        <mesh filename="package://meshes/proximal_col.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <visual name="skeleton__visual">
+      <origin xyz="0.01919 0.0022  0.00295" rpy="0.09206 0.2203  1.27627"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/proximal.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="skeleton__middle">
+    <inertial>
+      <mass value="0.19999998807907104"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <collision name="skeleton__collision">
+      <origin xyz="0.00925  0.00417 -0.0002" rpy="0.13008 0.20044 1.45783"/>
+      <geometry>
+        <mesh filename="package://meshes/middle_col.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <visual name="skeleton__visual">
+      <origin xyz="0.00925  0.00417 -0.0002" rpy="0.13008 0.20044 1.45783"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/middle.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="skeleton__distal">
+    <inertial>
+      <mass value="0.19999998807907104"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <collision name="skeleton__collision">
+      <origin xyz="0.00163 0.00281 0.00012" rpy="0.1341  0.1978  1.47817"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/distal.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </collision>
+    <visual name="skeleton__visual">
+      <origin xyz="0.00163 0.00281 0.00012" rpy="0.1341  0.1978  1.47817"/>
+      <geometry>
+        <mesh filename="package://demo_human_col/meshes/distal.obj" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>