New version E4: Includes new meshes for lfmetacarpal and palm (#152)

* Adding lf_metacarpal

* Adding the new meshes for E4 version

* Fixing orientation

* Fixing orientation

* Fixing orientation

* adding E4 new palm meshes

* fixing collision for lf metacarpal

* fixing collision for lf metacarpal

* Improving meshes

* Improving meshes

* Adding palm material

* Adding palm material

* Adding lf metacarpal material

* Fixing lint errors

* Fixing lint errors

* Fixing lint errors

sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -52,7 +52,8 @@
         <material name="Grey" />
       </visual>
       <collision>
-        <origin xyz="0 0 0.038" rpy="0 0 0" />
+        <origin xyz="${reflect*0.05397275/2.0} 0 ${0.038/2}" rpy="0 ${reflect*0.9599} 0" />
+        <axis xyz="0.573576436 0 ${reflect*0.819152044}" />
         <geometry name="${prefix}lfmetacarpal_collision_geom">
           <box size="0.018 0.024 0.040" />
         </geometry>

sr_description/hand/xacro/thumb/thmiddle.urdf.xacro

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -61,27 +61,33 @@
           </material>
         </xacro:unless>
       </visual>
-      <collision>
-        <xacro:if value="${mid_sensor == 'bt_2p'}">
+      <xacro:if value="${mid_sensor == 'bt_2p'}">
+        <collision>
           <origin xyz="0 0 0.005" rpy="0 0 0" />
           <geometry name="${prefix}thmiddle_collision_geom">
             <box size="0.001 0.001 0.001" />
           </geometry>
-        </xacro:if>
-        <xacro:unless value="${mid_sensor == 'bt_2p'}">
+        </collision>
+      </xacro:if>
+      <xacro:unless value="${mid_sensor == 'bt_2p'}">
+        <collision>
           <origin xyz="0 0 0.012" rpy="0 0 0" />
           <geometry name="${prefix}thmiddle_collision_geom">
             <cylinder radius="0.011" length="0.018" />
           </geometry>
-        </xacro:unless>
-      </collision>
-      <xacro:unless value="${mid_sensor == 'bt_2p'}">
+        </collision>
         <collision>
           <origin xyz="0 0 0.019" rpy="0 0 0" />
           <geometry>
             <sphere radius="0.011" />
           </geometry>
         </collision>
+        <collision>
+          <origin xyz="0 0 0.032" rpy="0 1.5708 0" />
+          <geometry>
+            <cylinder radius="0.010" length="0.014" />
+          </geometry>
+        </collision>
       </xacro:unless>
     </link>
     <joint name="${prefix}THJ2" type="revolute">