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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/mayankm/rsl_vt/catkin_ws/src/kinova_common/kinova_description/urdf/kinova.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- j2s6_3 refers to jaco v2 6DOF spherical 3fingers -->
<robot name="kinova">
<link name="world"/>
<!-- Base link -->
<link name="kinova_link_base">
<visual>
<geometry>
<mesh filename="../meshes/base.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
</link>
<joint name="kinova_joint_base" type="fixed">
<parent link="world"/>
<child link="kinova_link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Fixed joint to add dummy inertia link -->
<joint name="kinova_link_base_to_kinova_link_base_inertia" type="fixed">
<parent link="kinova_link_base"/>
<child link="kinova_link_base_inertia"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
<link name="kinova_link_base_inertia">
<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>
<link name="kinova_link_1">
<visual>
<geometry>
<mesh filename="../meshes/shoulder.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="../meshes/ring_big.STL"/>
</geometry>
</visual>
<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="kinova_joint_1" type="revolute">
<parent link="kinova_link_base"/>
<child link="kinova_link_1"/>
<axis xyz="0 0 1"/>
<limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
<origin rpy="0 3.14159265359 0" xyz="0 0 0.15675"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="kinova_link_2">
<visual>
<geometry>
<mesh filename="../meshes/arm.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="../meshes/ring_big.STL"/>
</geometry>
</visual>
<inertial>
<mass value="0.99"/>
<origin xyz="0 -0.2065 -0.01"/>
<inertia ixx="0.010502207991" ixy="0" ixz="0" iyy="0.000792" iyz="0" izz="0.010502207991"/>
</inertial>
</link>
<joint name="kinova_joint_2" type="revolute">
<parent link="kinova_link_1"/>
<child link="kinova_link_2"/>
<axis xyz="0 0 1"/>
<limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
<!-- limit effort also defines torque limit and freeze controller gains -->
<origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.0016 -0.11875"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="kinova_link_3">
<visual>
<geometry>
<mesh filename="../meshes/forearm.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="../meshes/ring_big.STL"/>
</geometry>
</visual>
<inertial>
<mass value="0.6763"/>
<origin xyz="0 0.081 -0.0086"/>
<inertia ixx="0.00142022431908" ixy="0" ixz="0" iyy="0.000304335" iyz="0" izz="0.00142022431908"/>
</inertial>
</link>
<joint name="kinova_joint_3" type="revolute">
<parent link="kinova_link_2"/>
<child link="kinova_link_3"/>
<axis xyz="0 0 1"/>
<limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
<!-- limit effort also defines torque limit and freeze controller gains -->
<origin rpy="0 3.14159265359 0" xyz="0 -0.410 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="kinova_link_4">
<visual>
<geometry>
<mesh filename="../meshes/wrist_spherical_1.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="../meshes/ring_small.STL"/>
</geometry>
</visual>
-->
<inertial>
<mass value="0.463"/>
<origin xyz="0 0.0028848942 -0.0541932613"/>
<inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="0.0004321316048" iyz="0" izz="9.26e-05"/>
</inertial>
</link>
<joint name="kinova_joint_4" type="revolute">
<parent link="kinova_link_3"/>
<child link="kinova_link_4"/>
<axis xyz="0 0 1"/>
<limit effort="6.8" lower="-62.8318530718" upper="6.28318530718" velocity="15"/>
<!-- limit effort also defines torque limit and freeze controller gains -->
<origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.2073 -0.0114"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="kinova_link_5">
<visual>
<geometry>
<mesh filename="../meshes/wrist_spherical_2.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="../meshes/ring_small.STL"/>
</geometry>
</visual>
-->
<inertial>
<mass value="0.463"/>
<origin xyz="0 0.0497208855 -0.0028562765"/>
<inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="9.26e-05" iyz="0" izz="0.0004321316048"/>
</inertial>
</link>
<joint name="kinova_joint_5" type="revolute">
<parent link="kinova_link_4"/>
<child link="kinova_link_5"/>
<axis xyz="0 0 1"/>
<limit effort="6.8" lower="-6.28318530718" upper="62.8318530718" velocity="15"/>
<!-- limit effort also defines torque limit and freeze controller gains -->
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.10375"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="kinova_link_6">
<visual>
<geometry>
<mesh filename="../meshes/hand_3finger.dae"/>
</geometry>
<material name="carbon_fiber">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="../meshes/ring_small.STL"/>
</geometry>
</visual>
<inertial>
<mass value="1.327"/>
<!-- 0.927 is original mass without additional force sensor -->
<origin xyz="0 0 -0.06"/>
<inertia ixx="0.0004403232387" ixy="0" ixz="0" iyy="0.0004403232387" iyz="0" izz="0.0007416"/>
</inertial>
</link>
<joint name="kinova_joint_6" type="revolute">
<parent link="kinova_link_5"/>
<child link="kinova_link_6"/>
<axis xyz="0 0 1"/>
<limit effort="6.8" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
<!-- limit effort also defines torque limit and freeze controller gains -->
<origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.10375 0"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="kinova_end_effector">
<!-- Inertial properties and a fixed revolute joint have been added to this link to make it possible to use the gazebo_link_attacher plugin -->
<!-- Minor collision properties are added to avoid bug/crash when running model in Gazebo -->
<visual>
<geometry>
<box size="0.0001 0.0001 0.0001"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.01"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<joint name="kinova_joint_end_effector" type="fixed">
<parent link="kinova_link_6"/>
<child link="kinova_end_effector"/>
<axis xyz="0 0 0"/>
<limit effort="2000" lower="0" upper="0" velocity="1"/>
<origin rpy="3.14159265359 0 0" xyz="0 0 -0.1600"/>
</joint>
</robot>
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