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rudis_magic_sawyer.urdf
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /u/alex22/catkin_ws/src/sawyer_robot/sawyer_description/urdf/sawyer.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="sawyer" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
<material name="sawyer_red">
<color rgba=".5 .1 .1 1"/>
</material>
<material name="sawyer_gray">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
<link name="base"/>
<link name="torso">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<link name="pedestal">
<visual>
<origin rpy="1.57079632679 0 -1.57079632679" xyz="0.26 0.345 -0.91488"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/pedestal.DAE"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.02 0 -0.29"/>
<geometry>
<cylinder length="0.62" radius="0.18"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.5"/>
<mass value="60.86397744"/>
<inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932"/>
</inertial>
</link>
<link name="controller_box">
<collision>
<origin rpy="0 0 0" xyz="-0.325 0 -0.38"/>
<geometry>
<box size="0.22 0.4 0.53"/>
</geometry>
</collision>
</link>
<joint name="controller_box_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="controller_box"/>
</joint>
<link name="pedestal_feet">
<collision>
<origin rpy="0 0 0" xyz="-0.1225 0 -0.758"/>
<geometry>
<box size="0.77 0.7 0.31"/>
</geometry>
</collision>
</link>
<joint name="pedestal_feet_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="pedestal_feet"/>
</joint>
<joint name="pedestal_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="pedestal"/>
</joint>
<joint name="right_arm_mount" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base"/>
<child link="right_arm_base_link"/>
</joint>
<joint name="torso_t0" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base"/>
<child link="torso"/>
</joint>
<link name="right_arm_base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.0006241 -2.8025E-05 0.065404"/>
<mass value="2.0687"/>
<inertia ixx="0.0067599" ixy="-4.2024E-05" ixz="-6.1904E-07" iyy="0.0067877" iyz="1.5888E-05" izz="0.0074031"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/base.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.12"/>
<geometry>
<cylinder length="0.24" radius="0.08"/>
</geometry>
</collision>
</link>
<link name="right_l0">
<inertial>
<origin rpy="0 0 0" xyz="0.024366 0.010969 0.14363"/>
<mass value="5.3213"/>
<inertia ixx="0.053314" ixy="0.0047093" ixz="0.011734" iyy="0.057902" iyz="0.0080179" izz="0.023659"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/l0.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.08 0 0.23"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
</link>
<joint name="right_j0" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<parent link="right_arm_base_link"/>
<child link="right_l0"/>
<axis xyz="0 0 1"/>
<limit effort="80.0" lower="-3.0503" upper="3.0503" velocity="1.74"/>
</joint>
<link name="head">
<inertial>
<origin rpy="0 0 0" xyz="0.0053207 -2.6549E-05 0.1021"/>
<mass value="1.5795"/>
<inertia ixx="0.011833" ixy="-4.4669E-06" ixz="4.9425E-05" iyy="0.0082709" iyz="4.2124E-07" izz="0.0049661"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="//u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/head.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<sphere radius="0.18"/>
</geometry>
</collision>
</link>
<joint name="head_pan" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.2965"/>
<parent link="right_l0"/>
<child link="head"/>
<axis xyz="0 0 1"/>
<limit effort="8" lower="-5.0952" upper="0.9064" velocity="1.8"/>
</joint>
<link name="right_torso_itb">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="right_torso_itb" type="fixed">
<origin rpy="0 -1.57079632679 0" xyz="-.055 0 .22"/>
<parent link="right_l0"/>
<child link="right_torso_itb"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l1">
<inertial>
<origin rpy="0 0 0" xyz="-0.0030849 -0.026811 0.092521"/>
<mass value="4.505"/>
<inertia ixx="0.022398" ixy="-0.00023986" ixz="-0.00029362" iyy="0.014613" iyz="-0.0060875" izz="0.017295"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/l1.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1225"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
</link>
<joint name="right_j1" type="revolute">
<origin rpy="-1.57079632679 1.57079632679 0" xyz="0.081 0.05 0.237"/>
<parent link="right_l0"/>
<child link="right_l1"/>
<axis xyz="0 0 1"/>
<limit effort="80.0" lower="-3.8095" upper="2.2736" velocity="1.328"/>
</joint>
<link name="right_l2">
<inertial>
<origin rpy="0 0 0" xyz="-0.00016044 -0.014967 0.13582"/>
<mass value="1.745"/>
<inertia ixx="0.025506" ixy="4.4101E-06" ixz="1.4955E-05" iyy="0.0253" iyz="-0.0033204" izz="0.0034179"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/l2.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<geometry>
<cylinder length="0.34" radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j2" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 -0.14 0.1425"/>
<parent link="right_l1"/>
<child link="right_l2"/>
<axis xyz="0 0 1"/>
<limit effort="40.0" lower="-3.0426" upper="3.0426" velocity="1.957"/>
</joint>
<link name="right_l3">
<inertial>
<origin rpy="0 0 0" xyz="-0.0048135 -0.0281 -0.084154"/>
<mass value="2.5097"/>
<inertia ixx="0.01016" ixy="-9.7452E-06" ixz="0.00026624" iyy="0.0065685" iyz="0.0030316" izz="0.0069078"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/l3.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.01 -0.12"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j3" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 -0.042 0.26"/>
<parent link="right_l2"/>
<child link="right_l3"/>
<axis xyz="0 0 1"/>
<limit effort="40.0" lower="-3.0439" upper="3.0439" velocity="1.957"/>
</joint>
<link name="right_l4">
<inertial>
<origin rpy="0 0 0" xyz="-0.0018844 0.0069001 0.1341"/>
<mass value="1.1136"/>
<inertia ixx="0.013557" ixy="1.8109E-05" ixz="0.00013523" iyy="0.013555" iyz="0.0010561" izz="0.0013658"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/l4.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.11"/>
<geometry>
<cylinder length="0.30" radius="0.045"/>
</geometry>
</collision>
</link>
<joint name="right_j4" type="revolute">
<origin rpy="1.57079632679 0 0" xyz="0 -0.125 -0.1265"/>
<parent link="right_l3"/>
<child link="right_l4"/>
<axis xyz="0 0 1"/>
<limit effort="9.0" lower="-2.9761" upper="2.9761" velocity="3.485"/>
</joint>
<link name="right_arm_itb">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="right_arm_itb" type="fixed">
<origin rpy="0 -1.57079632679 0" xyz="-.055 0 .075"/>
<parent link="right_l4"/>
<child link="right_arm_itb"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l5">
<inertial>
<origin rpy="0 0 0" xyz="0.0061133 -0.023697 0.076416"/>
<mass value="1.5625"/>
<inertia ixx="0.0047328" ixy="0.00011526" ixz="4.6269E-05" iyy="0.0029676" iyz="-0.0011557" izz="0.0031762"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/l5.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j5" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0 0.031 0.275"/>
<parent link="right_l4"/>
<child link="right_l5"/>
<axis xyz="0 0 1"/>
<limit effort="9.0" lower="-2.9761" upper="2.9761" velocity="3.485"/>
</joint>
<link name="right_hand_camera"/>
<joint name="right_hand_camera" type="fixed">
<origin rpy="0 1.57079632679 0" xyz="0.039552 -0.033 0.0695"/>
<parent link="right_l5"/>
<child link="right_hand_camera"/>
<axis xyz="0 0 0"/>
</joint>
<link name="right_wrist"/>
<joint name="right_wrist" type="fixed">
<origin rpy="1.57079632679 0 0" xyz="0 0 0.10541"/>
<parent link="right_l5"/>
<child link="right_wrist"/>
<axis xyz="0 0 0"/>
</joint>
<link name="right_l6">
<inertial>
<origin rpy="0 0 0" xyz="-8.0726E-06 0.0085838 -0.0049566"/>
<mass value="0.3292"/>
<inertia ixx="0.00031105" ixy="1.4771E-06" ixz="-3.7074E-07" iyy="0.00021549" iyz="-8.4533E-06" izz="0.00035976"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/sawyer_robot-master/sawyer_description/meshes/sawyer_pv/l6.DAE"/>
</geometry>
<material name="sawyer_red"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.015 -0.01"/>
<geometry>
<cylinder length="0.05" radius="0.055"/>
</geometry>
</collision>
</link>
<joint name="right_j6" type="revolute">
<origin rpy="-1.57079632679 -0.17453 3.1416" xyz="0 -0.11 0.1053"/>
<parent link="right_l5"/>
<child link="right_l6"/>
<axis xyz="0 0 1"/>
<limit effort="9.0" lower="-4.7124" upper="4.7124" velocity="4.545"/>
</joint>
<link name="right_hand">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<geometry>
<cylinder length="0.03" radius="0.035"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
<mass value="1.0E-08"/>
<inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
</inertial>
</link>
<joint name="right_hand" type="fixed">
<origin rpy="0 0 1.570796" xyz="0 0 0.0245"/>
<axis xyz="0 0 1"/>
<parent link="right_l6"/>
<child link="right_hand"/>
</joint>
<link name="right_l1_2">
<inertial>
<origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
<mass value="1.0E-08"/>
<inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.035"/>
<geometry>
<cylinder length="0.14" radius="0.07"/>
</geometry>
</collision>
</link>
<joint name="right_j1_2" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_l1"/>
<child link="right_l1_2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l2_2">
<inertial>
<origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
<mass value="1.0E-08"/>
<inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.26"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j2_2" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_l2"/>
<child link="right_l2_2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="right_l4_2">
<inertial>
<origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
<mass value="1.0E-08"/>
<inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0.01 0.26"/>
<geometry>
<sphere radius="0.06"/>
</geometry>
</collision>
</link>
<joint name="right_j4_2" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_l4"/>
<child link="right_l4_2"/>
<axis xyz="0 0 1"/>
</joint>
<link name="screen">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.24 0.14 0.002"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0001"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<joint name="display_joint" type="fixed">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.03 0.0 0.105"/>
<parent link="head"/>
<child link="screen"/>
</joint>
<link name="head_camera"/>
<joint name="head_camera" type="fixed">
<origin rpy="-2.1293 0 -1.57079632679" xyz="0.0228027 0 0.216572"/>
<parent link="head"/>
<child link="head_camera"/>
<axis xyz="0 0 0"/>
</joint>
<!-- Base of whole end effector - (Connector Plate + Electric Gripper + Fingers + Tips) -->
<link name="right_gripper_base">
<inertial>
<!-- Sum Gripper Mass - for whole end effector, measured from end of plastic cuff -->
<mass value="0.47"/>
<origin rpy="0 0 0" xyz="0.0028 -0.0004 0.0343"/>
<inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
</inertial>
</link>
<!-- Electric Gripper Base Link -->
<link name="right_electric_gripper_base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/intera_common-master/intera_tools_description/meshes/electric_gripper/electric_gripper_base.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0.004 0.0 0.025"/>
<geometry>
<cylinder length="0.1" radius="0.029"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</collision>
<inertial>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0.0 0.0 0.0"/>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<!-- Connector Plate Joint -->
<joint name="right_connector_plate_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0018"/>
<parent link="right_gripper_base"/>
<child link="right_connector_plate_base"/>
</joint>
<link name="right_connector_plate_base">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="6.9922E-05" ixy="6.1026E-08" ixz="-1.7042E-06" iyy="6.8188E-05" iyz="-1.6118E-08" izz="0.00012392"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/intera_common-master/intera_tools_description/meshes/connector_plate/connector_plate.STL"/>
</geometry>
<material name="black">
<color rgba="0.05 0.05 0.05 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0135"/>
<geometry>
<cylinder length="0.0302" radius="0.04"/>
</geometry>
<material name="darkred">
<color rgba=".5 .1 .1 1"/>
</material>
</collision>
</link>
<link name="right_connector_plate_mount"/>
<joint name="right_connector_plate_mount_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0176"/>
<parent link="right_connector_plate_base"/>
<child link="right_connector_plate_mount"/>
</joint>
<!-- Electric Gripper Base joint -->
<joint name="right_electric_gripper_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="right_connector_plate_mount"/>
<child link="right_electric_gripper_base"/>
</joint>
<link name="right_gripper_l_finger">
<visual>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/intera_common-master/intera_tools_description/meshes/electric_gripper/fingers/standard_narrow.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 -3.14159265359" xyz="0 0.01725 0.04"/>
<geometry>
<box size="0.01 0.0135 0.075"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 -3.14159265359" xyz="-0.005 -0.003 0.0083"/>
<geometry>
<box size="0.01 0.05 0.017"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<link name="right_gripper_l_finger_tip">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/intera_common-master/intera_tools_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 -0.0045 -0.015"/>
<geometry>
<box size="0.016 0.007 0.037"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<joint name="right_gripper_l_finger_tip_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.01725 0.075"/>
<parent link="right_gripper_l_finger"/>
<child link="right_gripper_l_finger_tip"/>
</joint>
<link name="right_gripper_r_finger">
<visual>
<origin rpy="0 0 -0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/intera_common-master/intera_tools_description/meshes/electric_gripper/fingers/standard_narrow.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 -0.0" xyz="0 -0.01725 0.04"/>
<geometry>
<box size="0.01 0.0135 0.075"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 -0.0" xyz="0.005 0.003 0.0083"/>
<geometry>
<box size="0.01 0.05 0.017"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 -0.0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<link name="right_gripper_r_finger_tip">
<visual>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<geometry>
<mesh filename="/u/teddy/Robotics_Research/catkin_ws/src/intera_common-master/intera_tools_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0.0" xyz="0 0.0045 -0.015"/>
<geometry>
<box size="0.016 0.007 0.037"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0.0" xyz="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<joint name="right_gripper_r_finger_tip_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 -0.01725 0.075"/>
<parent link="right_gripper_r_finger"/>
<child link="right_gripper_r_finger_tip"/>
</joint>
<joint name="right_gripper_base_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.005"/>
<parent link="right_hand"/>
<child link="right_gripper_base"/>
</joint>
<joint name="right_gripper_tip_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.14062"/>
<parent link="right_gripper_base"/>
<child link="right_gripper_tip"/>
</joint>
<!-- Electric Gripper Tip link -->
<link name="right_gripper_tip">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="right_gripper_l_finger_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0.003 -0.0015 0.04552"/>
<axis xyz="0 1 0"/>
<parent link="right_electric_gripper_base"/>
<child link="right_gripper_l_finger"/>
<limit effort="20.0" lower="0.0" upper="0.020833" velocity="5.0"/>
<dynamics damping="100.0" friction="500.0"/>
</joint>
<joint name="right_gripper_r_finger_joint" type="prismatic">
<origin rpy="0 0 0" xyz="0.003 0.0015 0.04552"/>
<axis xyz="0 1 0"/>
<parent link="right_electric_gripper_base"/>
<child link="right_gripper_r_finger"/>
<limit effort="20.0" lower="-0.020833" upper="0.0" velocity="5.0"/>
<mimic joint="right_gripper_l_finger_joint" multiplier="-1.0"/>
<dynamics damping="100.0" friction="500.0"/>
</joint>
</robot>