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update new kinova

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Files changed (3) hide show
  1. robots/kinova/LICENSE +27 -0
  2. robots/kinova/urdf/kinova.urdf +257 -0
  3. robots/kinova/urdf/kinova_stand.urdf +611 -0
robots/kinova/LICENSE ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Copyright (c) 2017, Kinova Robotics inc.
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+
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+ All rights reserved.
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+
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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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+
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+ * 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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+ * 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 contributors
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+ may be used to endorse or promote products derived from this software
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+ without specific prior written permission.
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+
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+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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+ A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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+ CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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+ EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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+ PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
24
+ PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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+ LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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+ 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.
robots/kinova/urdf/kinova.urdf ADDED
@@ -0,0 +1,257 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <!-- =================================================================================== -->
3
+ <!-- | This document was autogenerated by xacro from /home/mayankm/rsl_vt/catkin_ws/src/kinova_common/kinova_description/urdf/kinova.urdf.xacro | -->
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+ <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
5
+ <!-- =================================================================================== -->
6
+ <!-- j2s6_3 refers to jaco v2 6DOF spherical 3fingers -->
7
+ <robot name="kinova">
8
+
9
+ <link name="world"/>
10
+
11
+ <!-- Base link -->
12
+ <link name="kinova_link_base">
13
+ <visual>
14
+ <geometry>
15
+ <mesh filename="../meshes/base.dae"/>
16
+ </geometry>
17
+ <material name="carbon_fiber">
18
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
19
+ </material>
20
+ </visual>
21
+ </link>
22
+
23
+ <joint name="kinova_joint_base" type="fixed">
24
+ <parent link="world"/>
25
+ <child link="kinova_link_base"/>
26
+ <origin rpy="0 0 0" xyz="0 0 0"/>
27
+ </joint>
28
+
29
+ <!-- Fixed joint to add dummy inertia link -->
30
+ <joint name="kinova_link_base_to_kinova_link_base_inertia" type="fixed">
31
+ <parent link="kinova_link_base"/>
32
+ <child link="kinova_link_base_inertia"/>
33
+ <origin rpy="0 0 0" xyz="0 0 0"/>
34
+ </joint>
35
+
36
+ <!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
37
+ <link name="kinova_link_base_inertia">
38
+ <inertial>
39
+ <mass value="0.46784"/>
40
+ <origin rpy="0 0 0" xyz="0 0 0.1255"/>
41
+ <inertia ixx="0.000951270861568" ixy="0" ixz="0" iyy="0.000951270861568" iyz="0" izz="0.000374272"/>
42
+ </inertial>
43
+ </link>
44
+
45
+ <link name="kinova_link_1">
46
+ <visual>
47
+ <geometry>
48
+ <mesh filename="../meshes/shoulder.dae"/>
49
+ </geometry>
50
+ <material name="carbon_fiber">
51
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
52
+ </material>
53
+ </visual>
54
+ <visual>
55
+ <geometry>
56
+ <mesh filename="../meshes/ring_big.STL"/>
57
+ </geometry>
58
+ </visual>
59
+ <inertial>
60
+ <mass value="0.7477"/>
61
+ <origin xyz="0 -0.002 -0.0605"/>
62
+ <inertia ixx="0.00152031725204" ixy="0" ixz="0" iyy="0.00152031725204" iyz="0" izz="0.00059816"/>
63
+ </inertial>
64
+ </link>
65
+
66
+ <joint name="kinova_joint_1" type="revolute">
67
+ <parent link="kinova_link_base"/>
68
+ <child link="kinova_link_1"/>
69
+ <axis xyz="0 0 1"/>
70
+ <limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
71
+ <origin rpy="0 3.14159265359 0" xyz="0 0 0.15675"/>
72
+ <dynamics damping="0.0" friction="0.0"/>
73
+ </joint>
74
+
75
+ <link name="kinova_link_2">
76
+ <visual>
77
+ <geometry>
78
+ <mesh filename="../meshes/arm.dae"/>
79
+ </geometry>
80
+ <material name="carbon_fiber">
81
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
82
+ </material>
83
+ </visual>
84
+ <visual>
85
+ <geometry>
86
+ <mesh filename="../meshes/ring_big.STL"/>
87
+ </geometry>
88
+ </visual>
89
+ <inertial>
90
+ <mass value="0.99"/>
91
+ <origin xyz="0 -0.2065 -0.01"/>
92
+ <inertia ixx="0.010502207991" ixy="0" ixz="0" iyy="0.000792" iyz="0" izz="0.010502207991"/>
93
+ </inertial>
94
+ </link>
95
+
96
+ <joint name="kinova_joint_2" type="revolute">
97
+ <parent link="kinova_link_1"/>
98
+ <child link="kinova_link_2"/>
99
+ <axis xyz="0 0 1"/>
100
+ <limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
101
+ <!-- limit effort also defines torque limit and freeze controller gains -->
102
+ <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.0016 -0.11875"/>
103
+ <dynamics damping="0.0" friction="0.0"/>
104
+ </joint>
105
+
106
+ <link name="kinova_link_3">
107
+ <visual>
108
+ <geometry>
109
+ <mesh filename="../meshes/forearm.dae"/>
110
+ </geometry>
111
+ <material name="carbon_fiber">
112
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
113
+ </material>
114
+ </visual>
115
+ <visual>
116
+ <geometry>
117
+ <mesh filename="../meshes/ring_big.STL"/>
118
+ </geometry>
119
+ </visual>
120
+ <inertial>
121
+ <mass value="0.6763"/>
122
+ <origin xyz="0 0.081 -0.0086"/>
123
+ <inertia ixx="0.00142022431908" ixy="0" ixz="0" iyy="0.000304335" iyz="0" izz="0.00142022431908"/>
124
+ </inertial>
125
+ </link>
126
+
127
+ <joint name="kinova_joint_3" type="revolute">
128
+ <parent link="kinova_link_2"/>
129
+ <child link="kinova_link_3"/>
130
+ <axis xyz="0 0 1"/>
131
+ <limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
132
+ <!-- limit effort also defines torque limit and freeze controller gains -->
133
+ <origin rpy="0 3.14159265359 0" xyz="0 -0.410 0"/>
134
+ <dynamics damping="0.0" friction="0.0"/>
135
+ </joint>
136
+
137
+ <link name="kinova_link_4">
138
+ <visual>
139
+ <geometry>
140
+ <mesh filename="../meshes/wrist_spherical_1.dae"/>
141
+ </geometry>
142
+ <material name="carbon_fiber">
143
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
144
+ </material>
145
+ </visual>
146
+ <visual>
147
+ <geometry>
148
+ <mesh filename="../meshes/ring_small.STL"/>
149
+ </geometry>
150
+ </visual>
151
+ --&gt;
152
+
153
+ <inertial>
154
+ <mass value="0.463"/>
155
+ <origin xyz="0 0.0028848942 -0.0541932613"/>
156
+ <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="0.0004321316048" iyz="0" izz="9.26e-05"/>
157
+ </inertial>
158
+ </link>
159
+
160
+ <joint name="kinova_joint_4" type="revolute">
161
+ <parent link="kinova_link_3"/>
162
+ <child link="kinova_link_4"/>
163
+ <axis xyz="0 0 1"/>
164
+ <limit effort="6.8" lower="-62.8318530718" upper="6.28318530718" velocity="15"/>
165
+ <!-- limit effort also defines torque limit and freeze controller gains -->
166
+ <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.2073 -0.0114"/>
167
+ <dynamics damping="0.0" friction="0.0"/>
168
+ </joint>
169
+
170
+ <link name="kinova_link_5">
171
+ <visual>
172
+ <geometry>
173
+ <mesh filename="../meshes/wrist_spherical_2.dae"/>
174
+ </geometry>
175
+ <material name="carbon_fiber">
176
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
177
+ </material>
178
+ </visual>
179
+ <visual>
180
+ <geometry>
181
+ <mesh filename="../meshes/ring_small.STL"/>
182
+ </geometry>
183
+ </visual>
184
+ --&gt;
185
+
186
+ <inertial>
187
+ <mass value="0.463"/>
188
+ <origin xyz="0 0.0497208855 -0.0028562765"/>
189
+ <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="9.26e-05" iyz="0" izz="0.0004321316048"/>
190
+ </inertial>
191
+ </link>
192
+
193
+ <joint name="kinova_joint_5" type="revolute">
194
+ <parent link="kinova_link_4"/>
195
+ <child link="kinova_link_5"/>
196
+ <axis xyz="0 0 1"/>
197
+ <limit effort="6.8" lower="-6.28318530718" upper="62.8318530718" velocity="15"/>
198
+ <!-- limit effort also defines torque limit and freeze controller gains -->
199
+ <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.10375"/>
200
+ <dynamics damping="0.0" friction="0.0"/>
201
+ </joint>
202
+
203
+ <link name="kinova_link_6">
204
+ <visual>
205
+ <geometry>
206
+ <mesh filename="../meshes/hand_3finger.dae"/>
207
+ </geometry>
208
+ <material name="carbon_fiber">
209
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
210
+ </material>
211
+ </visual>
212
+ <visual>
213
+ <geometry>
214
+ <mesh filename="../meshes/ring_small.STL"/>
215
+ </geometry>
216
+ </visual>
217
+ <inertial>
218
+ <mass value="1.327"/>
219
+ <!-- 0.927 is original mass without additional force sensor -->
220
+ <origin xyz="0 0 -0.06"/>
221
+ <inertia ixx="0.0004403232387" ixy="0" ixz="0" iyy="0.0004403232387" iyz="0" izz="0.0007416"/>
222
+ </inertial>
223
+ </link>
224
+
225
+ <joint name="kinova_joint_6" type="revolute">
226
+ <parent link="kinova_link_5"/>
227
+ <child link="kinova_link_6"/>
228
+ <axis xyz="0 0 1"/>
229
+ <limit effort="6.8" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
230
+ <!-- limit effort also defines torque limit and freeze controller gains -->
231
+ <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.10375 0"/>
232
+ <dynamics damping="0.0" friction="0.0"/>
233
+ </joint>
234
+
235
+ <link name="kinova_end_effector">
236
+ <!-- Inertial properties and a fixed revolute joint have been added to this link to make it possible to use the gazebo_link_attacher plugin -->
237
+ <!-- Minor collision properties are added to avoid bug/crash when running model in Gazebo -->
238
+ <visual>
239
+ <geometry>
240
+ <box size="0.0001 0.0001 0.0001"/>
241
+ </geometry>
242
+ </visual>
243
+ <inertial>
244
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
245
+ <mass value="0.01"/>
246
+ <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
247
+ </inertial>
248
+ </link>
249
+
250
+ <joint name="kinova_joint_end_effector" type="fixed">
251
+ <parent link="kinova_link_6"/>
252
+ <child link="kinova_end_effector"/>
253
+ <axis xyz="0 0 0"/>
254
+ <limit effort="2000" lower="0" upper="0" velocity="1"/>
255
+ <origin rpy="3.14159265359 0 0" xyz="0 0 -0.1600"/>
256
+ </joint>
257
+ </robot>
robots/kinova/urdf/kinova_stand.urdf ADDED
@@ -0,0 +1,611 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <!-- =================================================================================== -->
3
+ <!-- | This document was autogenerated by xacro from /home/mayankm/rsl_vt/catkin_ws/src/kinova_common/kinova_description/urdf/kinova.urdf.xacro | -->
4
+ <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
5
+ <!-- =================================================================================== -->
6
+ <!-- j2s6_3 refers to jaco v2 6DOF spherical 3fingers -->
7
+ <robot name="kinova" 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://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">
8
+ <link name="world"> </link>
9
+ <!--Platform-->
10
+ <link name="platform">
11
+ <visual>
12
+ <!-- Main Body -->
13
+ <origin rpy="0 0 0" xyz="0 0 0.25"/>
14
+ <geometry>
15
+ <box size="0.845 0.27 0.5"/>
16
+ </geometry>
17
+ <material name="carbon_fiber">
18
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
19
+ </material>
20
+ </visual>
21
+ <collision>
22
+ <origin rpy="0 0 0" xyz="0 0 0.25"/>
23
+ <geometry>
24
+ <box size="0.845 0.27 0.5"/>
25
+ </geometry>
26
+ </collision>
27
+ </link>
28
+ <joint name="platform_joint_world" type="fixed">
29
+ <parent link="world"/>
30
+ <child link="platform"/>
31
+ <origin rpy="0 0 0" xyz="0 0 0"/>
32
+ </joint>
33
+ <!-- Base link -->
34
+ <link name="kinova_link_base">
35
+ <visual>
36
+ <geometry>
37
+ <mesh filename="../meshes/base.dae"/>
38
+ </geometry>
39
+ <material name="carbon_fiber">
40
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
41
+ </material>
42
+ </visual>
43
+ <collision>
44
+ <origin rpy="0 0 0" xyz="0 0 0.078375"/>
45
+ <geometry>
46
+ <cylinder length="0.15675" radius="0.04125" />
47
+ </geometry>
48
+ </collision>
49
+ <!-- <xacro:kinova_inertial mesh_no="${mesh_no}"/> -->
50
+ </link>
51
+ <joint name="kinova_joint_platform" type="fixed">
52
+ <parent link="platform"/>
53
+ <child link="kinova_link_base"/>
54
+ <origin rpy="0 0 0" xyz="0.314 0 0.5"/>
55
+ </joint>
56
+ <!-- Fixed joint to add dummy inertia link -->
57
+ <joint name="kinova_link_base_to_kinova_link_base_inertia" type="fixed">
58
+ <parent link="kinova_link_base"/>
59
+ <child link="kinova_link_base_inertia"/>
60
+ <origin rpy="0 0 0" xyz="0 0 0"/>
61
+ </joint>
62
+ <!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
63
+ <link name="kinova_link_base_inertia">
64
+ <inertial>
65
+ <mass value="0.46784"/>
66
+ <origin rpy="0 0 0" xyz="0 0 0.1255"/>
67
+ <inertia ixx="0.000951270861568" ixy="0" ixz="0" iyy="0.000951270861568" iyz="0" izz="0.000374272"/>
68
+ </inertial>
69
+ </link>
70
+ <link name="kinova_link_1">
71
+ <visual>
72
+ <geometry>
73
+ <mesh filename="../meshes/shoulder.dae"/>
74
+ </geometry>
75
+ <material name="carbon_fiber">
76
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
77
+ </material>
78
+ </visual>
79
+ <visual>
80
+ <geometry>
81
+ <mesh filename="../meshes/ring_big.STL"/>
82
+ </geometry>
83
+ </visual>
84
+ <collision>
85
+ <origin rpy="0 0 0" xyz="0 0 -0.0187"/>
86
+ <geometry>
87
+ <cylinder length="0.0374" radius="0.041"/>
88
+ </geometry>
89
+ </collision>
90
+ <collision>
91
+ <origin rpy="0 0 0" xyz="0 -0.0205 -0.07994"/>
92
+ <geometry>
93
+ <box size="0.082 0.041 0.08488"/>
94
+ </geometry>
95
+ </collision>
96
+ <collision>
97
+ <origin rpy="1.57079632679 0 0" xyz="0 -0.0205 -0.119"/>
98
+ <geometry>
99
+ <cylinder length="0.041" radius="0.041"/>
100
+ </geometry>
101
+ </collision>
102
+ --&gt;
103
+
104
+ <inertial>
105
+ <mass value="0.7477"/>
106
+ <origin xyz="0 -0.002 -0.0605"/>
107
+ <inertia ixx="0.00152031725204" ixy="0" ixz="0" iyy="0.00152031725204" iyz="0" izz="0.00059816"/>
108
+ </inertial>
109
+ </link>
110
+ <joint name="kinova_joint_1" type="revolute">
111
+ <parent link="kinova_link_base"/>
112
+ <child link="kinova_link_1"/>
113
+ <axis xyz="0 0 1"/>
114
+ <limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
115
+ <!-- limit effort also defines torque limit and freeze controller gains -->
116
+ <origin rpy="0 3.14159265359 0" xyz="0 0 0.15675"/>
117
+ <dynamics damping="0.0" friction="0.0"/>
118
+ </joint>
119
+ <link name="kinova_link_2">
120
+ <visual>
121
+ <geometry>
122
+ <mesh filename="../meshes/arm.dae"/>
123
+ </geometry>
124
+ <material name="carbon_fiber">
125
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
126
+ </material>
127
+ </visual>
128
+ <visual>
129
+ <geometry>
130
+ <mesh filename="../meshes/ring_big.STL"/>
131
+ </geometry>
132
+ </visual>
133
+ <collision>
134
+ <origin rpy="0 0 0" xyz="0 0 -0.0215"/>
135
+ <geometry>
136
+ <cylinder length="0.043" radius="0.0415"/>
137
+ </geometry>
138
+ </collision>
139
+ <collision>
140
+ <origin rpy="0 0 0" xyz="0 -0.204875 -0.0325"/>
141
+ <geometry>
142
+ <box size="0.0825 0.40975 0.0215"/>
143
+ </geometry>
144
+ </collision>
145
+ <collision>
146
+ <origin rpy="0 0 0" xyz="0 -0.204875 -0.0215"/>
147
+ <geometry>
148
+ <box size="0.0825 0.26975 0.0325"/>
149
+ </geometry>
150
+ </collision>
151
+ <collision>
152
+ <origin rpy="0 0 0" xyz="0 -0.40975 -0.0215"/>
153
+ <geometry>
154
+ <cylinder length="0.043" radius="0.0415"/>
155
+ </geometry>
156
+ </collision>
157
+ --&gt;
158
+
159
+ <inertial>
160
+ <mass value="0.99"/>
161
+ <origin xyz="0 -0.2065 -0.01"/>
162
+ <inertia ixx="0.010502207991" ixy="0" ixz="0" iyy="0.000792" iyz="0" izz="0.010502207991"/>
163
+ </inertial>
164
+ </link>
165
+ <joint name="kinova_joint_2" type="revolute">
166
+ <parent link="kinova_link_1"/>
167
+ <child link="kinova_link_2"/>
168
+ <axis xyz="0 0 1"/>
169
+ <limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
170
+ <!-- limit effort also defines torque limit and freeze controller gains -->
171
+ <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.0016 -0.11875"/>
172
+ <dynamics damping="0.0" friction="0.0"/>
173
+ </joint>
174
+ <link name="kinova_link_3">
175
+ <visual>
176
+ <geometry>
177
+ <mesh filename="../meshes/forearm.dae"/>
178
+ </geometry>
179
+ <material name="carbon_fiber">
180
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
181
+ </material>
182
+ </visual>
183
+ <visual>
184
+ <geometry>
185
+ <mesh filename="../meshes/ring_big.STL"/>
186
+ </geometry>
187
+ </visual>
188
+ <collision>
189
+ <origin rpy="0 0 0" xyz="0 0 -0.0215"/>
190
+ <geometry>
191
+ <cylinder length="0.043" radius="0.0415"/>
192
+ </geometry>
193
+ </collision>
194
+ <collision>
195
+ <origin rpy="0 0 0" xyz="0 0.053 -0.0215"/>
196
+ <geometry>
197
+ <box size="0.0825 0.106 0.043"/>
198
+ </geometry>
199
+ </collision>
200
+ <collision>
201
+ <origin rpy="1.57079632679 0 0" xyz="0 0.15525 -0.0115"/>
202
+ <geometry>
203
+ <cylinder length="0.1035" radius="0.0315"/>
204
+ </geometry>
205
+ </collision>
206
+ --&gt;
207
+
208
+ <inertial>
209
+ <mass value="0.6763"/>
210
+ <origin xyz="0 0.081 -0.0086"/>
211
+ <inertia ixx="0.00142022431908" ixy="0" ixz="0" iyy="0.000304335" iyz="0" izz="0.00142022431908"/>
212
+ </inertial>
213
+ </link>
214
+ <joint name="kinova_joint_3" type="revolute">
215
+ <parent link="kinova_link_2"/>
216
+ <child link="kinova_link_3"/>
217
+ <axis xyz="0 0 1"/>
218
+ <limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
219
+ <!-- limit effort also defines torque limit and freeze controller gains -->
220
+ <origin rpy="0 3.14159265359 0" xyz="0 -0.410 0"/>
221
+ <dynamics damping="0.0" friction="0.0"/>
222
+ </joint>
223
+ <link name="kinova_link_4">
224
+ <visual>
225
+ <geometry>
226
+ <mesh filename="../meshes/wrist_spherical_1.dae"/>
227
+ </geometry>
228
+ <material name="carbon_fiber">
229
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
230
+ </material>
231
+ </visual>
232
+ <visual>
233
+ <geometry>
234
+ <mesh filename="../meshes/ring_small.STL"/>
235
+ </geometry>
236
+ </visual>
237
+ <collision>
238
+ <origin rpy="0 0 0" xyz="0 0 -0.025"/>
239
+ <geometry>
240
+ <cylinder length="0.050" radius="0.0315"/>
241
+ </geometry>
242
+ </collision>
243
+ <collision>
244
+ <origin rpy="0 0 0" xyz="0 0.0157 -0.0753"/>
245
+ <geometry>
246
+ <box size="0.063 0.0315 0.056"/>
247
+ </geometry>
248
+ </collision>
249
+ <collision>
250
+ <origin rpy="1.57079632679 0 0" xyz="0 0.024 -0.10362"/>
251
+ <geometry>
252
+ <cylinder length="0.048" radius="0.0315"/>
253
+ </geometry>
254
+ </collision>
255
+ --&gt;
256
+
257
+ <inertial>
258
+ <mass value="0.463"/>
259
+ <origin xyz="0 0.0028848942 -0.0541932613"/>
260
+ <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="0.0004321316048" iyz="0" izz="9.26e-05"/>
261
+ </inertial>
262
+ </link>
263
+ <joint name="kinova_joint_4" type="revolute">
264
+ <parent link="kinova_link_3"/>
265
+ <child link="kinova_link_4"/>
266
+ <axis xyz="0 0 1"/>
267
+ <limit effort="6.8" lower="-62.8318530718" upper="6.28318530718" velocity="15"/>
268
+ <!-- limit effort also defines torque limit and freeze controller gains -->
269
+ <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.2073 -0.0114"/>
270
+ <dynamics damping="0.0" friction="0.0"/>
271
+ </joint>
272
+ <link name="kinova_link_5">
273
+ <visual>
274
+ <geometry>
275
+ <mesh filename="../meshes/wrist_spherical_2.dae"/>
276
+ </geometry>
277
+ <material name="carbon_fiber">
278
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
279
+ </material>
280
+ </visual>
281
+ <visual>
282
+ <geometry>
283
+ <mesh filename="../meshes/ring_small.STL"/>
284
+ </geometry>
285
+ </visual>
286
+ <collision>
287
+ <origin rpy="0 0 0" xyz="0 0 -0.024"/>
288
+ <geometry>
289
+ <cylinder length="0.048" radius="0.0315"/>
290
+ </geometry>
291
+ </collision>
292
+ <collision>
293
+ <origin rpy="0 0 0" xyz="0 0.028 -0.01575"/>
294
+ <geometry>
295
+ <box size="0.063 0.056 0.0315"/>
296
+ </geometry>
297
+ </collision>
298
+ <collision>
299
+ <origin rpy="1.57079632679 0 0" xyz="0 0.07862 0"/>
300
+ <geometry>
301
+ <cylinder length="0.050" radius="0.0315"/>
302
+ </geometry>
303
+ </collision>
304
+ --&gt;
305
+
306
+ <inertial>
307
+ <mass value="0.463"/>
308
+ <origin xyz="0 0.0497208855 -0.0028562765"/>
309
+ <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="9.26e-05" iyz="0" izz="0.0004321316048"/>
310
+ </inertial>
311
+ </link>
312
+ <joint name="kinova_joint_5" type="revolute">
313
+ <parent link="kinova_link_4"/>
314
+ <child link="kinova_link_5"/>
315
+ <axis xyz="0 0 1"/>
316
+ <limit effort="6.8" lower="-6.28318530718" upper="62.8318530718" velocity="15"/>
317
+ <!-- limit effort also defines torque limit and freeze controller gains -->
318
+ <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.10375"/>
319
+ <dynamics damping="0.0" friction="0.0"/>
320
+ </joint>
321
+ <link name="kinova_link_6">
322
+ <visual>
323
+ <geometry>
324
+ <mesh filename="../meshes/hand_3finger.dae"/>
325
+ </geometry>
326
+ <material name="carbon_fiber">
327
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
328
+ </material>
329
+ </visual>
330
+ <visual>
331
+ <geometry>
332
+ <mesh filename="../meshes/ring_small.STL"/>
333
+ </geometry>
334
+ </visual>
335
+ <collision>
336
+ <origin rpy="0 0 0" xyz="0 0 -0.024"/>
337
+ <geometry>
338
+ <cylinder length="0.048" radius="0.0315"/>
339
+ </geometry>
340
+ </collision>
341
+ <collision>
342
+ <origin rpy="0.43 0 0" xyz="0 0.0175 -0.06"/>
343
+ <geometry>
344
+ <cylinder length="0.0775" radius="0.02625"/>
345
+ </geometry>
346
+ </collision>
347
+ <collision>
348
+ <origin rpy="0.43 0 0" xyz="0 0.0175 -0.0575"/>
349
+ <geometry>
350
+ <cylinder length="0.0975" radius="0.021"/>
351
+ </geometry>
352
+ </collision>
353
+ <collision>
354
+ <origin rpy="-0.435 0 0.62" xyz="0.0175 -0.0175 -0.06"/>
355
+ <geometry>
356
+ <cylinder length="0.0775" radius="0.02625"/>
357
+ </geometry>
358
+ </collision>
359
+ <collision>
360
+ <origin rpy="-0.435 0 0.62" xyz="0.0175 -0.0175 -0.0575"/>
361
+ <geometry>
362
+ <cylinder length="0.0975" radius="0.021"/>
363
+ </geometry>
364
+ </collision>
365
+ <collision>
366
+ <origin rpy="-0.435 0 -0.62" xyz="-0.0175 -0.0175 -0.06"/>
367
+ <geometry>
368
+ <cylinder length="0.0775" radius="0.02625"/>
369
+ </geometry>
370
+ </collision>
371
+ <collision>
372
+ <origin rpy="-0.435 0 -0.62" xyz="-0.0175 -0.0175 -0.0575"/>
373
+ <geometry>
374
+ <cylinder length="0.0975" radius="0.021"/>
375
+ </geometry>
376
+ </collision>
377
+ <collision>
378
+ <origin rpy="0 0 0" xyz="0 0 -0.0550"/>
379
+ <geometry>
380
+ <box size="0.050 0.032 0.1075"/>
381
+ </geometry>
382
+ </collision>
383
+ --&gt;
384
+
385
+ <inertial>
386
+ <mass value="1.327"/>
387
+ <!-- 0.927 is original mass without additional force sensor -->
388
+ <origin xyz="0 0 -0.06"/>
389
+ <inertia ixx="0.0004403232387" ixy="0" ixz="0" iyy="0.0004403232387" iyz="0" izz="0.0007416"/>
390
+ </inertial>
391
+ </link>
392
+
393
+ <joint name="kinova_joint_6" type="revolute">
394
+ <parent link="kinova_link_5"/>
395
+ <child link="kinova_link_6"/>
396
+ <axis xyz="0 0 1"/>
397
+ <limit effort="6.8" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
398
+ <!-- limit effort also defines torque limit and freeze controller gains -->
399
+ <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.10375 0"/>
400
+ <dynamics damping="0.0" friction="0.0"/>
401
+ </joint>
402
+
403
+ <link name="kinova_end_effector">
404
+ <!-- Inertial properties and a fixed revolute joint have been added to this link to make it possible to use the gazebo_link_attacher plugin -->
405
+ <!-- Minor collision properties are added to avoid bug/crash when running model in Gazebo -->
406
+ <visual>
407
+ <geometry>
408
+ <box size="0.0001 0.0001 0.0001"/>
409
+ </geometry>
410
+ </visual>
411
+ <collision>
412
+ <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.1"/>
413
+ <geometry>
414
+ <box size="0.00001 0.00001 0.00001"/>
415
+ </geometry>
416
+ </collision>
417
+ <inertial>
418
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
419
+ <mass value="0.01"/>
420
+ <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
421
+ </inertial>
422
+ </link>
423
+ <joint name="kinova_joint_end_effector" type="fixed">
424
+ <!--joint name="${joint_name}" type="fixed"-->
425
+ <parent link="kinova_link_6"/>
426
+ <child link="kinova_end_effector"/>
427
+ <axis xyz="0 0 0"/>
428
+ <limit effort="2000" lower="0" upper="0" velocity="1"/>
429
+ <origin rpy="3.14159265359 0 0" xyz="0 0 -0.1600"/>
430
+ </joint>
431
+ <link name="kinova_link_finger_1">
432
+ <visual>
433
+ <geometry>
434
+ <mesh filename="../meshes/finger_proximal.dae"/>
435
+ </geometry>
436
+ <material name="carbon_fiber">
437
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
438
+ </material>
439
+ </visual>
440
+ <collision>
441
+ <origin rpy="0 0 0" xyz="0.025 -0.01147 0.0"/>
442
+ <geometry>
443
+ <box size="0.05 0.02294 0.02294"/>
444
+ </geometry>
445
+ </collision>
446
+ --&gt;
447
+
448
+ <inertial>
449
+ <mass value="0.01"/>
450
+ <origin xyz="0.022 0 0"/>
451
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
452
+ </inertial>
453
+ </link>
454
+ <joint name="kinova_joint_finger_1" type="revolute">
455
+ <parent link="kinova_link_6"/>
456
+ <child link="kinova_link_finger_1"/>
457
+ <axis xyz="0 0 1"/>
458
+ <origin rpy="-1.570796327 0.649262481663582 1.35961148639407" xyz="0.00279 0.03126 -0.11467"/>
459
+ <limit effort="2000" lower="0" upper="2" velocity="1"/>
460
+ </joint>
461
+ <link name="kinova_link_finger_tip_1">
462
+ <visual>
463
+ <geometry>
464
+ <mesh filename="../meshes/finger_distal.dae"/>
465
+ </geometry>
466
+ <material name="carbon_fiber">
467
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
468
+ </material>
469
+ </visual>
470
+ <collision>
471
+ <origin rpy="0 0 0" xyz="0.025 -0.01 0.0"/>
472
+ <geometry>
473
+ <box size="0.045 0.022 0.02294"/>
474
+ </geometry>
475
+ </collision>
476
+ --&gt;
477
+
478
+ <inertial>
479
+ <mass value="0.01"/>
480
+ <origin xyz="0.022 0 0"/>
481
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
482
+ </inertial>
483
+ </link>
484
+ <joint name="kinova_joint_finger_tip_1" type="fixed">
485
+ <parent link="kinova_link_finger_1"/>
486
+ <child link="kinova_link_finger_tip_1"/>
487
+ <axis xyz="0 0 1"/>
488
+ <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
489
+ <limit effort="2000" lower="0" upper="2" velocity="1"/>
490
+ </joint>
491
+ <link name="kinova_link_finger_2">
492
+ <visual>
493
+ <geometry>
494
+ <mesh filename="../meshes/finger_proximal.dae"/>
495
+ </geometry>
496
+ <material name="carbon_fiber">
497
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
498
+ </material>
499
+ </visual>
500
+ <collision>
501
+ <origin rpy="0 0 0" xyz="0.025 -0.01147 0.0"/>
502
+ <geometry>
503
+ <box size="0.05 0.02294 0.02294"/>
504
+ </geometry>
505
+ </collision>
506
+ --&gt;
507
+
508
+ <inertial>
509
+ <mass value="0.01"/>
510
+ <origin xyz="0.022 0 0"/>
511
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
512
+ </inertial>
513
+ </link>
514
+ <joint name="kinova_joint_finger_2" type="revolute">
515
+ <parent link="kinova_link_6"/>
516
+ <child link="kinova_link_finger_2"/>
517
+ <axis xyz="0 0 1"/>
518
+ <origin rpy="-1.570796327 0.649262481663582 -1.38614049188413" xyz="0.02226 -0.02707 -0.11482"/>
519
+ <limit effort="2000" lower="0" upper="2" velocity="1"/>
520
+ </joint>
521
+ <link name="kinova_link_finger_tip_2">
522
+ <visual>
523
+ <geometry>
524
+ <mesh filename="../meshes/finger_distal.dae"/>
525
+ </geometry>
526
+ <material name="carbon_fiber">
527
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
528
+ </material>
529
+ </visual>
530
+ <collision>
531
+ <origin rpy="0 0 0" xyz="0.025 -0.01 0.0"/>
532
+ <geometry>
533
+ <box size="0.045 0.022 0.02294"/>
534
+ </geometry>
535
+ </collision>
536
+ --&gt;
537
+
538
+ <inertial>
539
+ <mass value="0.01"/>
540
+ <origin xyz="0.022 0 0"/>
541
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
542
+ </inertial>
543
+ </link>
544
+ <joint name="kinova_joint_finger_tip_2" type="fixed">
545
+ <parent link="kinova_link_finger_2"/>
546
+ <child link="kinova_link_finger_tip_2"/>
547
+ <axis xyz="0 0 1"/>
548
+ <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
549
+ <limit effort="2000" lower="0" upper="2" velocity="1"/>
550
+ </joint>
551
+ <link name="kinova_link_finger_3">
552
+ <visual>
553
+ <geometry>
554
+ <mesh filename="../meshes/finger_proximal.dae"/>
555
+ </geometry>
556
+ <material name="carbon_fiber">
557
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
558
+ </material>
559
+ </visual>
560
+ <collision>
561
+ <origin rpy="0 0 0" xyz="0.025 -0.01147 0.0"/>
562
+ <geometry>
563
+ <box size="0.05 0.02294 0.02294"/>
564
+ </geometry>
565
+ </collision>
566
+ --&gt;
567
+
568
+ <inertial>
569
+ <mass value="0.01"/>
570
+ <origin xyz="0.022 0 0"/>
571
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
572
+ </inertial>
573
+ </link>
574
+ <joint name="kinova_joint_finger_3" type="revolute">
575
+ <parent link="kinova_link_6"/>
576
+ <child link="kinova_link_finger_3"/>
577
+ <axis xyz="0 0 1"/>
578
+ <origin rpy="-1.570796327 0.649262481663582 -1.75545216211587" xyz="-0.02226 -0.02707 -0.11482"/>
579
+ <limit effort="2000" lower="0" upper="2" velocity="1"/>
580
+ </joint>
581
+ <link name="kinova_link_finger_tip_3">
582
+ <visual>
583
+ <geometry>
584
+ <mesh filename="../meshes/finger_distal.dae"/>
585
+ </geometry>
586
+ <material name="carbon_fiber">
587
+ <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
588
+ </material>
589
+ </visual>
590
+ <collision>
591
+ <origin rpy="0 0 0" xyz="0.025 -0.01 0.0"/>
592
+ <geometry>
593
+ <box size="0.045 0.022 0.02294"/>
594
+ </geometry>
595
+ </collision>
596
+ --&gt;
597
+
598
+ <inertial>
599
+ <mass value="0.01"/>
600
+ <origin xyz="0.022 0 0"/>
601
+ <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
602
+ </inertial>
603
+ </link>
604
+ <joint name="kinova_joint_finger_tip_3" type="fixed">
605
+ <parent link="kinova_link_finger_3"/>
606
+ <child link="kinova_link_finger_tip_3"/>
607
+ <axis xyz="0 0 1"/>
608
+ <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
609
+ <limit effort="2000" lower="0" upper="2" velocity="1"/>
610
+ </joint>
611
+ </robot>