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kinovaMicoM1N4S200.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from m1n4s200_standalone.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- m1n4_2 refers to mico v1 6DOF non-spherical 2fingers -->
<robot name="m1n4s200" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">
<!-- links mesh_no
base 0
shoulder 1
arm 2
forearm 3
wrist 4
arm_mico 5
arm_half1 (7dof) 6
arm_half2 (7dof) 7
wrist_spherical_1 8
wrist_spherical_2 9
hand 3 finger 55
hand_2finger 56
finger_proximal 57
finger_distal 58
-->
<!-- links mesh_no
base 0
shoulder 1
arm 2
forearm 3
wrist 4
arm_mico 5
arm_half1 (7dof) 6
arm_half2 (7dof) 7
wrist_spherical_1 8
wrist_spherical_2 9
hand 3 finger 55
hand_2finger 56
finger_proximal 57
finger_distal 58
-->
<link name="root">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
<!--<material name="Black" /> -->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<!-- for gazebo -->
<link name="world"/>
<joint name="connect_root_and_world" type="fixed">
<child link="root"/>
<parent link="world"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- ros_control plugin -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>m1n4s200</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
</gazebo>
<link name="m1n4s200_link_base">
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/base.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://kinova_description/meshes/base.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.46784"/>
<origin rpy="0 0 0" xyz="0 0 0.1255"/>
<inertia ixx="0.000951270861568" ixy="0" ixz="0" iyy="0.000951270861568" iyz="0" izz="0.000374272"/>
</inertial>
</link>
<joint name="m1n4s200_joint_base" type="fixed">
<parent link="root"/>
<child link="m1n4s200_link_base"/>
<axis xyz="0 0 0"/>
<limit effort="2000" lower="0" upper="0" velocity="1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="m1n4s200_link_1">
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/shoulder.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/ring_big.STL"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://kinova_description/meshes/shoulder.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.7477"/>
<origin xyz="0 -0.002 -0.0605"/>
<inertia ixx="0.00152031725204" ixy="0" ixz="0" iyy="0.00152031725204" iyz="0" izz="0.00059816"/>
</inertial>
</link>
<joint name="m1n4s200_joint_1" type="continuous">
<parent link="m1n4s200_link_base"/>
<child link="m1n4s200_link_1"/>
<axis xyz="0 0 1"/>
<limit effort="2000" lower="-6.28318530718" upper="6.28318530718" velocity="1"/>
<origin rpy="0 3.14159265359 0" xyz="0 0 0.15675"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="m1n4s200_joint_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m1n4s200_joint_1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m1n4s200_joint_1_actuator">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>160</mechanicalReduction>
</actuator>
</transmission>
<link name="m1n4s200_link_2">
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/arm_mico.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/ring_big.STL"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://kinova_description/meshes/arm_mico.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.85968"/>
<origin xyz="0 -0.145 -0.0076"/>
<inertia ixx="0.00467090931629" ixy="0" ixz="0" iyy="0.000386856" iyz="0" izz="0.00467090931629"/>
</inertial>
</link>
<joint name="m1n4s200_joint_2" type="revolute">
<parent link="m1n4s200_link_1"/>
<child link="m1n4s200_link_2"/>
<axis xyz="0 0 1"/>
<limit effort="2000" lower="0.872664625997" upper="5.41052068118" velocity="1"/>
<origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.0016 -0.11875"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="m1n4s200_joint_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m1n4s200_joint_2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m1n4s200_joint_2_actuator">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>160</mechanicalReduction>
</actuator>
</transmission>
<link name="m1n4s200_link_3">
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/forearm_mico.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/ring_big.STL"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://kinova_description/meshes/forearm_mico.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.606"/>
<origin xyz="0 0.0463 -0.0065"/>
<inertia ixx="0.0003837984648" ixy="0" ixz="0" iyy="0.0001212" iyz="0" izz="0.0003837984648"/>
</inertial>
</link>
<joint name="m1n4s200_joint_3" type="revolute">
<parent link="m1n4s200_link_2"/>
<child link="m1n4s200_link_3"/>
<axis xyz="0 0 1"/>
<limit effort="2000" lower="0.610865238198" upper="5.67232006898" velocity="1"/>
<origin rpy="0 3.14159265359 0" xyz="0 -0.290 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="m1n4s200_joint_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m1n4s200_joint_3">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m1n4s200_joint_3_actuator">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>160</mechanicalReduction>
</actuator>
</transmission>
<link name="m1n4s200_link_4">
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/ring_small.STL"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.78"/>
<origin xyz="0 0 -0.06"/>
<inertia ixx="0.000370498518" ixy="0" ixz="0" iyy="0.000370498518" iyz="0" izz="0.000624"/>
</inertial>
</link>
<joint name="m1n4s200_joint_4" type="continuous">
<parent link="m1n4s200_link_3"/>
<child link="m1n4s200_link_4"/>
<axis xyz="0 0 1"/>
<limit effort="2000" lower="-6.28318530718" upper="6.28318530718" velocity="1"/>
<origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.1231 -0.0086"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<transmission name="m1n4s200_joint_4_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m1n4s200_joint_4">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m1n4s200_joint_4_actuator">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>160</mechanicalReduction>
</actuator>
</transmission>
<link name="m1n4s200_end_effector">
<visual>
<geometry>
<box size="0 0 0"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="joint_end_effector" type="fixed">
<parent link="m1n4s200_link_4"/>
<child link="m1n4s200_end_effector"/>
<axis xyz="0 0 0"/>
<limit effort="2000" lower="0" upper="0" velocity="1"/>
<origin rpy="3.14159265359 0 1.57079632679" xyz="0 0 -0.1600"/>
</joint>
<link name="m1n4s200_link_finger_1">
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0.022 0 0"/>
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
</inertial>
</link>
<joint name="m1n4s200_joint_finger_1" type="revolute">
<parent link="m1n4s200_link_4"/>
<child link="m1n4s200_link_finger_1"/>
<axis xyz="0 0 1"/>
<origin rpy="-1.570796327 .649262481663582 1.57079632679490" xyz="-0.0025 0.03095 -0.11482"/>
<limit effort="2000" lower="0" upper="2" velocity="1"/>
</joint>
<transmission name="m1n4s200_joint_finger_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m1n4s200_joint_finger_1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m1n4s200_joint_finger_1_actuator">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="m1n4s200_link_finger_tip_1">
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0.022 0 0"/>
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
</inertial>
</link>
<joint name="m1n4s200_joint_finger_tip_1" type="fixed">
<parent link="m1n4s200_link_finger_1"/>
<child link="m1n4s200_link_finger_tip_1"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
<limit effort="2000" lower="0" upper="2" velocity="1"/>
</joint>
<link name="m1n4s200_link_finger_2">
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0.022 0 0"/>
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
</inertial>
</link>
<joint name="m1n4s200_joint_finger_2" type="revolute">
<parent link="m1n4s200_link_4"/>
<child link="m1n4s200_link_finger_2"/>
<axis xyz="0 0 1"/>
<origin rpy="-1.570796327 .649262481663582 -1.57079632679490" xyz="-0.0025 -0.03095 -0.11482"/>
<limit effort="2000" lower="0" upper="2" velocity="1"/>
</joint>
<transmission name="m1n4s200_joint_finger_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m1n4s200_joint_finger_2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m1n4s200_joint_finger_2_actuator">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="m1n4s200_link_finger_tip_2">
<visual>
<geometry>
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.01"/>
<origin xyz="0.022 0 0"/>
<inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
</inertial>
</link>
<joint name="m1n4s200_joint_finger_tip_2" type="fixed">
<parent link="m1n4s200_link_finger_2"/>
<child link="m1n4s200_link_finger_tip_2"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
<limit effort="2000" lower="0" upper="2" velocity="1"/>
</joint>
</robot>