hand_model/jaco_hand_description/jaco_robot.urdf

<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from urdf/jaco_robot.urdf.xacro     | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="jaco_robot" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
  <link name="base_link">
  </link>
  <!-- fake cylinder which is actually a box -->
  <!--xacro:macro name="cyl_inertia" params="mass r h ">
      <mass value="${mass}"/>
      <inertia
      ixx="${mass / 12.0 * (r*r + h*h)}" ixy="0.0" ixz="0.0"
      iyy="${mass / 12.0 * (h*h + r*r)}" iyz="0.0"
      izz="${mass / 12.0 * (r*r + r*r)}"/>
  </xacro:macro-->
  <!-- ***************** MODEL CORRECTIONS ************************* -->
  <!-- *************************************************************** -->
  <!-- from measurements, pitch is -0.2293 -->
  <!-- MODEL_FIX transforms from wrist to finger mounts -->
  <!--<xacro:property name="f_thb_m_xyz" value=" 0.037  0.001  0.106" />
  <xacro:property name="f_idx_m_xyz" value="-0.034  0.022 0.106" />
  <xacro:property name="f_pnk_m_xyz" value="-0.034 -0.022 0.106" />
  <xacro:property name="f_thb_m_rpy" value="0 -0.2658 ${M_PI-0.226892}" /> 
  <xacro:property name="f_idx_m_rpy" value="0 -0.2293 -0.191986" />
  <xacro:property name="f_pnk_m_rpy" value="0 -0.2293 0.191986" />-->

  <joint name="jaco_arm_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="jaco_6_hand_limb"/>
  </joint>

  <link name="jaco_6_hand_limb">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0555917045329114 -7.25586546752172E-05 -0.00317411883668722"/>
      <mass value="0.2"/>
      <inertia ixx="0.0007852635256" ixy="0" ixz="0" iyy="0.0007852635256" iyz="0" izz="0.00121"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/6_hand_limb.STL" scale="1.0 1.0 1.0"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/6_hand_limb.STL" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>


  <link name="jaco_fingers_base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.001"/>
      <inertia ixx="3.33332e-08" ixy="0" ixz="0" iyy="3.33332e-08" iyz="0" izz="5e-08"/>
    </inertial>
  </link>
  <!-- this joint is only to align the coordinate system with the kinova specification frame -->
  <joint name="jaco_fingers_base_joint" type="fixed">
    <origin rpy="-1.57079632679 3.14159265359 1.57079632679" xyz="0 0 0"/>
    <parent link="jaco_6_hand_limb"/>
    <child link="jaco_fingers_base_link"/>
  </joint>

  <!-- ...........................  -->
  <!--      FINGERS          -->
  <!-- ...........................  -->
  <link name="jaco_7_finger_mount_index">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.00706399246397285 -0.00176078508424846"/>
      <mass value="0.006465"/>
      <inertia ixx="7.8441686232e-07" ixy="0" ixz="0" iyy="7.8441686232e-07" iyz="0" izz="1.04733e-06"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/7_finger_mount_index.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/7_finger_mount_index.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="jaco_finger_mount_index_fixed" type="fixed">
    <!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
    <!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
              to move at all, and then they mooved only slowly. -->
    <!--dynamics damping="0.1" friction="1.0"/-->
    <dynamics damping="0.005" friction="0.005"/>
    <origin rpy="0 -0.2293 -0.191986" xyz="-0.034  0.022 0.095"/>
    <parent link="jaco_fingers_base_link"/>
    <child link="jaco_7_finger_mount_index"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- ...........................        -->
  <link name="jaco_8_finger_index">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0181403689626489 0 0.00272470933850985"/>
      <mass value="0.01845"/>
      <inertia ixx="6.37560262249e-06" ixy="0" ixz="0" iyy="6.37560262249e-06" iyz="0" izz="1.68125625e-06"/>
    </inertial>
    <!--     <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
      <material name="">
        <color rgba="0.10 0.10 0.10 1" />
      </material>
    </visual>
-->
    <visual>
      <origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/8_finger_index.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.50 0.50 0.50 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/8_finger_index.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="jaco_finger_joint_0" type="revolute">
    <!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
    <!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
              to move at all, and then they mooved only slowly. -->
    <!--dynamics damping="0.1" friction="1.0"/-->
    <dynamics damping="0.005" friction="0.005"/>
    <origin rpy="0 -0.34 -0.191986" xyz="-0.0276  0.0204 0.11"/>
    <parent link="jaco_fingers_base_link"/>
    <child link="jaco_8_finger_index"/>
    <axis xyz="0 1 0"/>
    <limit effort="1.5" lower="-0.0045" upper="1.05" velocity="0.2"/>
  </joint>
  <!-- ...........................        -->
  <link name="jaco_9_finger_index_tip">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01340812509202 -4.52693266978291E-07 0.0118561361126153"/>
      <mass value="0.0122"/>
      <inertia ixx="2.6850059266e-06" ixy="0" ixz="0" iyy="2.6850059266e-06" iyz="0" izz="8.784e-07"/>
    </inertial>
    <!--     <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
      <material name="">
        <color rgba="0.10 0.10 0.10 1" />
      </material>
    </visual>
-->
    <visual>
      <origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/9_finger_index_tip.STL" scale="1 1 1"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/9_finger_index_tip.STL" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <joint name="jaco_finger_joint_1" type="fixed">
    <!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
    <!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
              to move at all, and then they mooved only slowly. -->
    <!--dynamics damping="0.1" friction="1.0"/-->
    <dynamics damping="0.005" friction="0.005"/>
    <origin rpy="0 0 0" xyz="0 0 0.0441"/>
    <parent link="jaco_8_finger_index"/>
    <child link="jaco_9_finger_index_tip"/>
  </joint>
  <!-- ...........................        -->
  <link name="jaco_7_finger_mount_thumb">
    <inertial>
      <origin rpy="0 0 0" xyz="-2.65251193937339E-07 0.00706398229186052 -0.00176078674955921"/>
      <mass value="0.006465"/>
      <inertia ixx="7.8441686232e-07" ixy="0" ixz="0" iyy="7.8441686232e-07" iyz="0" izz="1.04733e-06"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/7_finger_mount_thumb.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.50 0.50 0.50 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/7_finger_mount_thumb.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="jaco_finger_mount_thumb_fixed" type="fixed">
    <!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
    <!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
              to move at all, and then they mooved only slowly. -->
    <!--dynamics damping="0.1" friction="1.0"/-->
    <dynamics damping="0.005" friction="0.005"/>
    <origin rpy="0 -0.2658 2.91470065359" xyz=" 0.037  0.001  0.095"/>
    <parent link="jaco_fingers_base_link"/>
    <child link="jaco_7_finger_mount_thumb"/>
  </joint>
  <!-- ...........................        -->
  <link name="jaco_8_finger_thumb">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0181403317517619 -3.13818432741766E-07 0.00272473343106584"/>
      <mass value="0.0184"/>
      <inertia ixx="6.3583245666e-06" ixy="0" ixz="0" iyy="6.3583245666e-06" iyz="0" izz="1.6767e-06"/>
    </inertial>
    <!--     <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
      <material name="">
        <color rgba="0.10 0.10 0.10 1" />
      </material>
    </visual>
-->
    <visual>
      <origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/8_finger_thumb.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/8_finger_thumb.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="jaco_finger_joint_2" type="revolute">
    <!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
    <!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
              to move at all, and then they mooved only slowly. -->
    <!--dynamics damping="0.1" friction="1.0"/-->
    <dynamics damping="0.005" friction="0.005"/>
    <origin rpy="0 -0.37 2.91470065359" xyz=" 0.0319  0.003  0.11"/>
    <parent link="jaco_fingers_base_link"/>
    <child link="jaco_8_finger_thumb"/>
    <axis xyz="0 1 0"/>
    <limit effort="1.5" lower="-0.0045" upper="1.05" velocity="0.2"/>
  </joint>
  <!-- ...........................        -->
  <link name="jaco_9_finger_thumb_tip">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0134080639046228 -4.56622786070351E-07 0.0118561154422042"/>
      <mass value="0.0122"/>
      <inertia ixx="2.6850059266e-06" ixy="0" ixz="0" iyy="2.6850059266e-06" iyz="0" izz="8.784e-07"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/9_finger_thumb_tip.STL" scale="1 1 1"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/9_finger_thumb_tip.STL" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <joint name="jaco_finger_joint_3" type="fixed">
    <!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
    <!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
              to move at all, and then they mooved only slowly. -->
    <!--dynamics damping="0.1" friction="1.0"/-->
    <dynamics damping="0.005" friction="0.005"/>
    <origin rpy="0 0 0" xyz="0 0 0.0441"/>
    <parent link="jaco_8_finger_thumb"/>
    <child link="jaco_9_finger_thumb_tip"/>
  </joint>
  <!-- ...........................        -->
  <link name="jaco_7_finger_mount_pinkie">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.00706399455294665 -0.00176077690193762"/>
      <mass value="0.00646"/>
      <inertia ixx="7.8381019808e-07" ixy="0" ixz="0" iyy="7.8381019808e-07" iyz="0" izz="1.04652e-06"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/7_finger_mount_pinkie.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 1.57079632679" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/7_finger_mount_pinkie.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="jaco_finger_mount_pinkie_fixed" type="fixed">
    <!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
    <!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
              to move at all, and then they mooved only slowly. -->
    <!--dynamics damping="0.1" friction="1.0"/-->
    <dynamics damping="0.005" friction="0.005"/>
    <origin rpy="0 -0.2293 0.191986" xyz="-0.034 -0.022 0.095"/>
    <parent link="jaco_fingers_base_link"/>
    <child link="jaco_7_finger_mount_pinkie"/>
  </joint>
  <!-- ...........................        -->
  <link name="jaco_8_finger_pinkie">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0181404164708055 -2.87009015777565E-07 0.00272467774606585"/>
      <mass value="0.01845"/>
      <inertia ixx="6.37560262249e-06" ixy="0" ixz="0" iyy="6.37560262249e-06" iyz="0" izz="1.68125625e-06"/>
    </inertial>
    <!--     <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
      <material name="">
        <color rgba="0.10 0.10 0.10 1" />
      </material>
    </visual>
-->
    <visual>
      <origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/8_finger_pinkie.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="3.14159265359 1.1780972445 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/8_finger_pinkie.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="jaco_finger_joint_4" type="revolute">
    <!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
    <!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
              to move at all, and then they mooved only slowly. -->
    <!--dynamics damping="0.1" friction="1.0"/-->
    <dynamics damping="0.005" friction="0.005"/>
    <origin rpy="0 -0.34 0.191986" xyz="-0.0276 -0.0204 0.11"/>
    <parent link="jaco_fingers_base_link"/>
    <child link="jaco_8_finger_pinkie"/>
    <axis xyz="0 1 0"/>
    <limit effort="1.5" lower="-0.0045" upper="1.05" velocity="0.2"/>
  </joint>
  <!-- ...........................        -->
  <link name="jaco_9_finger_pinkie_tip">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0134 0 0.01185"/>
      <mass value="0.0122"/>
      <inertia ixx="2.6850059266e-06" ixy="0" ixz="0" iyy="2.6850059266e-06" iyz="0" izz="8.784e-07"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/9_finger_pinkie_tip.STL" scale="1 1 1"/>
      </geometry>
      <material name="">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/jaco2/9_finger_pinkie_tip.STL" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <joint name="jaco_finger_joint_5" type="fixed">
    <!--- remark 2014: damping greater than 0.1 (0.2) lead to model break downs when testing it bit by bit -->
    <!--- remark jan 2016: damping and friction higher than 0.005 required very high forces in order for the fingers
              to move at all, and then they mooved only slowly. -->
    <!--dynamics damping="0.1" friction="1.0"/-->
    <dynamics damping="0.005" friction="0.005"/>
    <origin rpy="0 0 0" xyz="0 0 0.0441"/>
    <parent link="jaco_8_finger_pinkie"/>
    <child link="jaco_9_finger_pinkie_tip"/>
  </joint>
</robot>