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Add URDF of shadow robotics hand.
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‎URDFs/sr_description/LICENSE‎

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BSD 3-Clause License
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Copyright (c) 2022, Shadow Robot Company Ltd
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎URDFs/sr_description/README.md‎

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From: https://github.com/shadow-robot/sr_common
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This package contains the description for Shadow Robot's Hands.
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You can find the different complete models in [robots](robots).
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You can also find more information about the computation of the [hand kinematics](doc/HandInertia.md).

‎URDFs/sr_description/meshes/components/cable_connector/cable_connector_base_E3M5.dae‎

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‎URDFs/sr_description/meshes/components/cable_connector/cable_connector_palm_E3M5.dae‎

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<?xml version="1.0" encoding="utf-8"?>
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<!--
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Software License Agreement (BSD License)
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Copyright © 2022 belongs to Shadow Robot Company Ltd.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification,
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are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
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may be used to endorse or promote products derived from this software without
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specific prior written permission.
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This software is provided by Shadow Robot Company Ltd "as is" and any express
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or implied warranties, including, but not limited to, the implied warranties of
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merchantability and fitness for a particular purpose are disclaimed. In no event
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shall the copyright holder be liable for any direct, indirect, incidental, special,
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exemplary, or consequential damages (including, but not limited to, procurement of
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substitute goods or services; loss of use, data, or profits; or business interruption)
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however caused and on any theory of liability, whether in contract, strict liability,
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or tort (including negligence or otherwise) arising in any way out of the use of this
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software, even if advised of the possibility of such damage.
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-->
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<asset>
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<contributor>
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<author>Blender User</author>
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<authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
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</contributor>
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<created>2022-02-10T09:31:08</created>
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<modified>2022-02-10T09:31:08</modified>
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<unit name="meter" meter="1"/>
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<up_axis>Z_UP</up_axis>
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</asset>
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<library_images/>
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<library_geometries>
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<geometry id="cable_connector_palm_E3M5-mesh" name="cable_connector_palm_E3M5">
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<mesh>
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<source id="cable_connector_palm_E3M5-mesh-positions">
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<float_array id="cable_connector_palm_E3M5-mesh-positions-array" count="84">23.68411 23.95628 4.347712 23.29755 10.86026 27.02741 33.68265 23.95628 4.518117 33.2961 10.86026 27.19781 23.71296 24.87076 2.654866 33.7115 24.87075 2.825271 23.74265 25.68771 0.9128577 33.74119 25.68772 1.083287 23.77308 26.40453 -0.8726677 33.77163 26.40454 -0.7022374 23.80416 27.01891 -2.695956 33.80271 27.01891 -2.525551 23.83577 27.52887 -4.551155 33.83433 27.52886 -4.38075 23.86784 27.93275 -6.432298 33.86639 27.93274 -6.261892 23.90024 28.22926 -8.333321 33.89879 28.22926 -8.162904 23.93288 28.41745 -10.2481 33.93142 28.41745 -10.07768 23.96564 28.49672 -12.17046 33.96419 28.49672 -12.00004 24.11651 28.61028 -21.02219 34.11505 28.61028 -20.85177 24.14343 19.13335 -22.60153 34.14197 19.13335 -22.43111 23.30607 9.994233 26.52747 33.30463 9.994228 26.69787</float_array>
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<technique_common>
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<accessor source="#cable_connector_palm_E3M5-mesh-positions-array" count="28" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="cable_connector_palm_E3M5-mesh-normals">
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<float_array id="cable_connector_palm_E3M5-mesh-normals-array" count="156">-0.008520245 0.8660258 0.4999269 -0.008520126 0.8660253 0.4999275 -0.008097231 0.8798591 0.4751659 -0.008098065 0.8798632 0.4751582 -0.007236361 0.9054061 0.424485 -0.007233679 0.9053995 0.4244992 -0.006349623 0.9280278 0.3724569 -0.006349563 0.9280265 0.3724601 -0.005440652 0.9476609 0.3192324 -0.005442202 0.9476634 0.3192251 -0.004515051 0.9642435 0.2649796 -0.004515886 0.9642459 0.264971 -0.003575623 0.9777259 0.2098557 -0.003575623 0.9777266 0.2098526 -0.002625942 0.9880571 0.1540659 -0.002624928 0.9880555 0.154076 -0.001666665 0.9952062 0.09778475 -0.001666605 0.9952065 0.09778165 -7.02046e-4 0.9991511 0.04118967 -7.02028e-4 0.9991511 0.04118973 -2.18582e-4 0.9999178 0.01282507 -2.18584e-4 0.9999178 0.01282364 0.0168097 0.1644071 -0.9862494 0.01680999 0.1644072 -0.9862494 0.003115415 -0.983139 -0.1828333 0.00311625 -0.983139 -0.1828333 -0.01475697 -0.5000076 0.8658953 -0.01475709 -0.5000058 0.8658964 -0.9998549 -6.35187e-7 -0.01704156 -0.9998549 -5.18093e-6 -0.01704138 -0.9998548 7.92017e-7 -0.0170415 -0.9998548 -3.72009e-6 -0.01704114 -0.9998548 -9.96255e-7 -0.01704126 -0.9998549 2.93822e-6 -0.0170409 -0.9998548 0 -0.01704269 -0.9998549 -6.46456e-6 -0.01703846 -0.9998548 2.9742e-6 -0.01704454 -0.9998549 2.83551e-6 -0.01704108 -0.9998548 2.65638e-6 -0.01704293 -0.9998549 -1.62074e-6 -0.01703941 0.9998549 0 0.01704049 0.9998548 4.66053e-6 0.01704561 0.9998549 1.01029e-6 0.01704126 0.9998549 -8.54753e-6 0.01704347 0.9998548 7.22277e-6 0.01704138 0.9998548 -4.65016e-6 0.01704108 0.9998549 -3.24149e-6 0.01704329 0.9998549 3.03587e-6 0.01703929 0.9998548 4.25325e-6 0.01704031 0.9998548 0 0.0170415 0.9998549 -6.46462e-6 0.01704126 0.9998548 2.867e-7 0.01704186</float_array>
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<technique_common>
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<accessor source="#cable_connector_palm_E3M5-mesh-normals-array" count="52" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<vertices id="cable_connector_palm_E3M5-mesh-vertices">
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<input semantic="POSITION" source="#cable_connector_palm_E3M5-mesh-positions"/>
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</vertices>
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<triangles count="52">
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<input semantic="VERTEX" source="#cable_connector_palm_E3M5-mesh-vertices" offset="0"/>
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<input semantic="NORMAL" source="#cable_connector_palm_E3M5-mesh-normals" offset="1"/>
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<p>0 0 1 0 2 0 2 1 1 1 3 1 4 2 0 2 5 2 5 3 0 3 2 3 6 4 4 4 7 4 7 5 4 5 5 5 8 6 6 6 9 6 9 7 6 7 7 7 10 8 8 8 11 8 11 9 8 9 9 9 12 10 10 10 13 10 13 11 10 11 11 11 14 12 12 12 15 12 15 13 12 13 13 13 16 14 14 14 17 14 17 15 14 15 15 15 18 16 16 16 19 16 19 17 16 17 17 17 20 18 18 18 21 18 21 19 18 19 19 19 22 20 20 20 23 20 23 21 20 21 21 21 24 22 22 22 25 22 25 23 22 23 23 23 26 24 24 24 27 24 27 25 24 25 25 25 1 26 26 26 3 26 3 27 26 27 27 27 20 28 22 28 24 28 26 29 1 29 24 29 24 30 1 30 0 30 0 31 4 31 24 31 24 32 4 32 6 32 24 33 6 33 8 33 8 34 10 34 24 34 24 35 10 35 12 35 24 36 12 36 14 36 14 37 16 37 24 37 24 38 16 38 18 38 24 39 18 39 20 39 25 40 23 40 21 40 3 41 27 41 2 41 2 42 27 42 25 42 9 43 7 43 25 43 25 44 7 44 5 44 25 45 5 45 2 45 21 46 19 46 25 46 25 47 19 47 17 47 25 48 17 48 15 48 15 49 13 49 25 49 25 50 13 50 11 50 25 51 11 51 9 51</p>
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</triangles>
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</mesh>
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</geometry>
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</library_geometries>
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<library_visual_scenes>
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<visual_scene id="Scene" name="Scene">
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<node id="cable_connector_palm_E3M5" name="cable_connector_palm_E3M5" type="NODE">
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<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
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<instance_geometry url="#cable_connector_palm_E3M5-mesh" name="cable_connector_palm_E3M5"/>
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</node>
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</visual_scene>
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</library_visual_scenes>
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<scene>
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<instance_visual_scene url="#Scene"/>
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</scene>
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</COLLADA>

‎URDFs/sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p.dae‎

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‎URDFs/sr_description/meshes/components/f_distal/bt_2p/f_distal_bt_2p_adapter.dae‎

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‎URDFs/sr_description/meshes/components/f_distal/bt_sp/f_distal_bt_sp.dae‎

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‎URDFs/sr_description/meshes/components/f_distal/mst/f_distal_mst.dae‎

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‎URDFs/sr_description/meshes/components/f_distal/mst/f_distal_mstXL.dae‎

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‎URDFs/sr_description/meshes/components/f_distal/pst/f_distal_pst.dae‎

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