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robotiq.urdf
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<?xml version="1.0"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from s-model_articulated_fourbar.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
s-model_articulated - articulated version of the robotiq s-model,
3 fingered gripper.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="s-model_articulated">
<link name="finger_1_link_0">
<visual>
<origin rpy="0 0 0" xyz="0.020 0 0"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="black">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<!--<collision>
<origin xyz="-0.0455 0.0414 0.036" rpy="0 3.1416 -1.57"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/collision/link_0.STL" />
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.05"/>
<inertia ixx="0.01" ixy="-0.00002" ixz="0.00001" iyy="0.0008" iyz="0" izz="0.001"/>
</inertial>
</link>
<link name="finger_1_link_1">
<visual>
<origin rpy="0 0 -0.52" xyz="0.050 -.028 0"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 -0.52" xyz="0.03 -0.0145 0"/>
<geometry>
<box size=".028 .01 .03"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.15"/>
<inertia ixx="0.001859" ixy="-0.000376" ixz="0.000028" iyy="0.012756" iyz="0" izz="0.0024"/>
</inertial>
</link>
<link name="finger_1_link_2">
<!--
NOTE: This link has an offset in the z-direction based on the models that were
used to generate grap-it poses. With the offset below the model appears visually
correct, but it is suspect.
-->
<visual>
<origin rpy="0 0 0" xyz="0.039 0 0.0075"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02 0.0025 -0.0005"/>
<geometry>
<box size=".018 .01 .03"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.15"/>
<inertia ixx="0.001859" ixy="-0.000376" ixz="0.000028" iyy="0.012756" iyz="0" izz="0.0024"/>
</inertial>
</link>
<link name="finger_1_link_3">
<visual>
<origin rpy="0 0 0.52" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 .52" xyz="0.02 0.015 0"/>
<geometry>
<box size=".025 .01 .03"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.05"/>
<inertia ixx="0.001239" ixy="-0.000251" ixz="0.000019" iyy="0.00085" iyz="0" izz="0.001632"/>
</inertial>
</link>
<link name="finger_1_fourbar_0_link_1">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".01429 0 0"/>
<geometry>
<cylinder length=".02858" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_1_fourbar_0_link_2">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".02699 0 0"/>
<geometry>
<cylinder length=".05398" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_1_fourbar_0_link_3">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".007365 0 0"/>
<geometry>
<cylinder length=".01473" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_1_fourbar_3_link_1">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".01111 0 0"/>
<geometry>
<cylinder length=".02222" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_1_fourbar_3_link_2">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".01905 0 0"/>
<geometry>
<cylinder length=".03810" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_1_fourbar_3_link_3">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".00635 0 0"/>
<geometry>
<cylinder length=".01270" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_1_fourbar_linkage">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".007618 0 0"/>
<geometry>
<cylinder length=".015236" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<joint name="finger_1_joint_0" type="revolute">
<parent link="finger_1_link_0"/>
<child link="finger_1_link_1"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.020 0 0"/>
<limit effort="100" lower="0" upper="1.055" velocity="100"/>
</joint>
<joint name="finger_1_joint_1" type="revolute">
<parent link="finger_1_link_1"/>
<child link="finger_1_link_2"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.52" xyz="0.050 -.028 0"/>
<limit effort="100" lower="0" upper="1.5708" velocity="100"/>
</joint>
<joint name="finger_1_joint_2" type="revolute">
<parent link="finger_1_link_2"/>
<child link="finger_1_link_3"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.039 0 0"/>
<limit effort="100" lower="-0.7854" upper="3.1416" velocity="100"/>
</joint>
<joint name="finger_1_fourbar_0_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<parent link="finger_1_link_0"/>
<child link="finger_1_fourbar_0_link_1"/>
<origin rpy="0 0 0" xyz="0.020 0 0"/>
<limit effort="100" lower="-2.10" upper="-0.255" velocity="100"/>
</joint>
<joint name="finger_1_fourbar_0_joint_1" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_1_fourbar_0_link_1"/>
<child link="finger_1_fourbar_0_link_2"/>
<origin rpy="0 0 0" xyz=".02858 0 0"/>
<limit effort="100" lower="1.092" upper="1.940" velocity="100"/>
</joint>
<joint name="finger_1_fourbar_0_joint_2" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_1_link_1"/>
<child link="finger_1_fourbar_0_link_3"/>
<origin rpy="0 0 -0.52" xyz="0.050 -.028 0"/>
<limit effort="100" lower="-2.111" upper="-0.199" velocity="100"/>
</joint>
<loop_joint name="finger_1_fourbar_0_joint_3" type="continuous">
<axis xyz="0 0 1"/>
<link1 link="finger_1_fourbar_0_link_2" rpy="0 0 0" xyz=".05398 0 0"/>
<link2 link="finger_1_fourbar_0_link_3" rpy="0 0 0" xyz=".01473 0 0"/>
</loop_joint>
<joint name="finger_1_fourbar_3_joint_0" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_1_link_2"/>
<child link="finger_1_fourbar_3_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<limit effort="100" lower="-1.367" upper="-0.945" velocity="100"/>
</joint>
<joint name="finger_1_fourbar_3_joint_1" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_1_fourbar_3_link_1"/>
<child link="finger_1_fourbar_3_link_2"/>
<origin rpy="0 0 0" xyz="0.02222 0 0"/>
<limit effort="100" lower="1.235" upper="1.613" velocity="100"/>
</joint>
<joint name="finger_1_fourbar_3_joint_2" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_1_link_3"/>
<child link="finger_1_fourbar_3_link_3"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<limit effort="100" lower="-1.367" upper="-0.995" velocity="100"/>
</joint>
<loop_joint name="finger_1_fourbar_3_joint_3" type="continuous">
<axis xyz="0 0 1"/>
<link1 link="finger_1_fourbar_3_link_3" rpy="0 0 0" xyz="0.01270 0 0"/>
<link2 link="finger_1_fourbar_3_link_2" rpy="0 0 0" xyz="0.03810 0 0"/>
</loop_joint>
<joint name="finger_1_fourbar_linkage_joint_0" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_1_fourbar_0_link_3"/>
<child link="finger_1_fourbar_linkage"/>
<origin rpy="0 0 0" xyz=".01473 0 0"/>
<limit effort="100" lower="1.4" upper="1.5" velocity="100"/>
</joint>
<loop_joint name="finger_1_fourbar_linkage_joint_1" type="continuous">
<axis xyz="0 0 1"/>
<link1 link="finger_1_fourbar_linkage" rpy="0 0 0" xyz=".015236 0 0"/>
<link2 link="finger_1_fourbar_3_link_1" rpy="0 0 0" xyz=".02222 0 0"/>
</loop_joint>
<gazebo reference="finger_1_link_0">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_link_1">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_link_2">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_link_3">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_fourbar_0_link_1">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_fourbar_0_link_2">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_fourbar_0_link_3">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_fourbar_3_link_1">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_fourbar_3_link_2">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_fourbar_3_link_3">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_1_fourbar_linkage">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<transmission name="finger_1_fourbar_0_joint_0_trans" type="SimpleTransmission">
<actuator name="finger_1_control_torque"/>
<joint name="finger_1_fourbar_0_joint_0"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<link name="finger_2_link_0">
<visual>
<origin rpy="0 0 0" xyz="0.020 0 0"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="black">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<!--<collision>
<origin xyz="-0.0455 0.0414 0.036" rpy="0 3.1416 -1.57"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/collision/link_0.STL" />
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.05"/>
<inertia ixx="0.01" ixy="-0.00002" ixz="0.00001" iyy="0.0008" iyz="0" izz="0.001"/>
</inertial>
</link>
<link name="finger_2_link_1">
<visual>
<origin rpy="0 0 -0.52" xyz="0.050 -.028 0"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 -0.52" xyz="0.03 -0.0145 0"/>
<geometry>
<box size=".028 .01 .03"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.15"/>
<inertia ixx="0.001859" ixy="-0.000376" ixz="0.000028" iyy="0.012756" iyz="0" izz="0.0024"/>
</inertial>
</link>
<link name="finger_2_link_2">
<!--
NOTE: This link has an offset in the z-direction based on the models that were
used to generate grap-it poses. With the offset below the model appears visually
correct, but it is suspect.
-->
<visual>
<origin rpy="0 0 0" xyz="0.039 0 0.0075"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02 0.0025 -0.0005"/>
<geometry>
<box size=".018 .01 .03"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.15"/>
<inertia ixx="0.001859" ixy="-0.000376" ixz="0.000028" iyy="0.012756" iyz="0" izz="0.0024"/>
</inertial>
</link>
<link name="finger_2_link_3">
<visual>
<origin rpy="0 0 0.52" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 .52" xyz="0.02 0.015 0"/>
<geometry>
<box size=".025 .01 .03"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.05"/>
<inertia ixx="0.001239" ixy="-0.000251" ixz="0.000019" iyy="0.00085" iyz="0" izz="0.001632"/>
</inertial>
</link>
<link name="finger_2_fourbar_0_link_1">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".01429 0 0"/>
<geometry>
<cylinder length=".02858" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_2_fourbar_0_link_2">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".02699 0 0"/>
<geometry>
<cylinder length=".05398" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_2_fourbar_0_link_3">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".007365 0 0"/>
<geometry>
<cylinder length=".01473" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_2_fourbar_3_link_1">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".01111 0 0"/>
<geometry>
<cylinder length=".02222" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_2_fourbar_3_link_2">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".01905 0 0"/>
<geometry>
<cylinder length=".03810" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_2_fourbar_3_link_3">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".00635 0 0"/>
<geometry>
<cylinder length=".01270" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_2_fourbar_linkage">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".007618 0 0"/>
<geometry>
<cylinder length=".015236" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<joint name="finger_2_joint_0" type="revolute">
<parent link="finger_2_link_0"/>
<child link="finger_2_link_1"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.020 0 0"/>
<limit effort="100" lower="0" upper="1.055" velocity="100"/>
</joint>
<joint name="finger_2_joint_1" type="revolute">
<parent link="finger_2_link_1"/>
<child link="finger_2_link_2"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.52" xyz="0.050 -.028 0"/>
<limit effort="100" lower="0" upper="1.5708" velocity="100"/>
</joint>
<joint name="finger_2_joint_2" type="revolute">
<parent link="finger_2_link_2"/>
<child link="finger_2_link_3"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.039 0 0"/>
<limit effort="100" lower="-0.7854" upper="3.1416" velocity="100"/>
</joint>
<joint name="finger_2_fourbar_0_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<parent link="finger_2_link_0"/>
<child link="finger_2_fourbar_0_link_1"/>
<origin rpy="0 0 0" xyz="0.020 0 0"/>
<limit effort="100" lower="-2.10" upper="-0.255" velocity="100"/>
</joint>
<joint name="finger_2_fourbar_0_joint_1" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_2_fourbar_0_link_1"/>
<child link="finger_2_fourbar_0_link_2"/>
<origin rpy="0 0 0" xyz=".02858 0 0"/>
<limit effort="100" lower="1.092" upper="1.940" velocity="100"/>
</joint>
<joint name="finger_2_fourbar_0_joint_2" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_2_link_1"/>
<child link="finger_2_fourbar_0_link_3"/>
<origin rpy="0 0 -0.52" xyz="0.050 -.028 0"/>
<limit effort="100" lower="-2.111" upper="-0.199" velocity="100"/>
</joint>
<loop_joint name="finger_2_fourbar_0_joint_3" type="continuous">
<axis xyz="0 0 1"/>
<link1 link="finger_2_fourbar_0_link_2" rpy="0 0 0" xyz=".05398 0 0"/>
<link2 link="finger_2_fourbar_0_link_3" rpy="0 0 0" xyz=".01473 0 0"/>
</loop_joint>
<joint name="finger_2_fourbar_3_joint_0" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_2_link_2"/>
<child link="finger_2_fourbar_3_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<limit effort="100" lower="-1.367" upper="-0.945" velocity="100"/>
</joint>
<joint name="finger_2_fourbar_3_joint_1" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_2_fourbar_3_link_1"/>
<child link="finger_2_fourbar_3_link_2"/>
<origin rpy="0 0 0" xyz="0.02222 0 0"/>
<limit effort="100" lower="1.235" upper="1.613" velocity="100"/>
</joint>
<joint name="finger_2_fourbar_3_joint_2" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_2_link_3"/>
<child link="finger_2_fourbar_3_link_3"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<limit effort="100" lower="-1.367" upper="-0.995" velocity="100"/>
</joint>
<loop_joint name="finger_2_fourbar_3_joint_3" type="continuous">
<axis xyz="0 0 1"/>
<link1 link="finger_2_fourbar_3_link_3" rpy="0 0 0" xyz="0.01270 0 0"/>
<link2 link="finger_2_fourbar_3_link_2" rpy="0 0 0" xyz="0.03810 0 0"/>
</loop_joint>
<joint name="finger_2_fourbar_linkage_joint_0" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_2_fourbar_0_link_3"/>
<child link="finger_2_fourbar_linkage"/>
<origin rpy="0 0 0" xyz=".01473 0 0"/>
<limit effort="100" lower="1.4" upper="1.5" velocity="100"/>
</joint>
<loop_joint name="finger_2_fourbar_linkage_joint_1" type="continuous">
<axis xyz="0 0 1"/>
<link1 link="finger_2_fourbar_linkage" rpy="0 0 0" xyz=".015236 0 0"/>
<link2 link="finger_2_fourbar_3_link_1" rpy="0 0 0" xyz=".02222 0 0"/>
</loop_joint>
<gazebo reference="finger_2_link_0">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_link_1">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_link_2">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_link_3">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_fourbar_0_link_1">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_fourbar_0_link_2">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_fourbar_0_link_3">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_fourbar_3_link_1">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_fourbar_3_link_2">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_fourbar_3_link_3">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_2_fourbar_linkage">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<transmission name="finger_2_fourbar_0_joint_0_trans" type="SimpleTransmission">
<actuator name="finger_2_control_torque"/>
<joint name="finger_2_fourbar_0_joint_0"/>
<mechanicalReduction>1</mechanicalReduction>
</transmission>
<link name="finger_middle_link_0">
<visual>
<origin rpy="0 0 0" xyz="0.020 0 0"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_0.STL"/>
</geometry>
<material name="black">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<!--<collision>
<origin xyz="-0.0455 0.0414 0.036" rpy="0 3.1416 -1.57"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/collision/link_0.STL" />
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>-->
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.05"/>
<inertia ixx="0.01" ixy="-0.00002" ixz="0.00001" iyy="0.0008" iyz="0" izz="0.001"/>
</inertial>
</link>
<link name="finger_middle_link_1">
<visual>
<origin rpy="0 0 -0.52" xyz="0.050 -.028 0"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_1.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 -0.52" xyz="0.03 -0.0145 0"/>
<geometry>
<box size=".028 .01 .03"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.15"/>
<inertia ixx="0.001859" ixy="-0.000376" ixz="0.000028" iyy="0.012756" iyz="0" izz="0.0024"/>
</inertial>
</link>
<link name="finger_middle_link_2">
<!--
NOTE: This link has an offset in the z-direction based on the models that were
used to generate grap-it poses. With the offset below the model appears visually
correct, but it is suspect.
-->
<visual>
<origin rpy="0 0 0" xyz="0.039 0 0.0075"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_2.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.02 0.0025 -0.0005"/>
<geometry>
<box size=".018 .01 .03"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.15"/>
<inertia ixx="0.001859" ixy="-0.000376" ixz="0.000028" iyy="0.012756" iyz="0" izz="0.0024"/>
</inertial>
</link>
<link name="finger_middle_link_3">
<visual>
<origin rpy="0 0 0.52" xyz="0 0 0"/>
<geometry>
<mesh filename="package://drake/examples/atlas/urdf/meshes/s-model_articulated/visual/link_3.STL"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 0 .52" xyz="0.02 0.015 0"/>
<geometry>
<box size=".025 .01 .03"/>
</geometry>
<material name="yellow"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.05"/>
<inertia ixx="0.001239" ixy="-0.000251" ixz="0.000019" iyy="0.00085" iyz="0" izz="0.001632"/>
</inertial>
</link>
<link name="finger_middle_fourbar_0_link_1">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".01429 0 0"/>
<geometry>
<cylinder length=".02858" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_middle_fourbar_0_link_2">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".02699 0 0"/>
<geometry>
<cylinder length=".05398" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_middle_fourbar_0_link_3">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".007365 0 0"/>
<geometry>
<cylinder length=".01473" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_middle_fourbar_3_link_1">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".01111 0 0"/>
<geometry>
<cylinder length=".02222" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_middle_fourbar_3_link_2">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".01905 0 0"/>
<geometry>
<cylinder length=".03810" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_middle_fourbar_3_link_3">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".00635 0 0"/>
<geometry>
<cylinder length=".01270" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<link name="finger_middle_fourbar_linkage">
<inertial>
<mass value="0.00001"/>
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
</inertial>
<visual>
<origin rpy="0 1.57 0" xyz=".007618 0 0"/>
<geometry>
<cylinder length=".015236" radius="0.001"/>
</geometry>
<material name="fourbar">
<color rgba=".6353 .6353 .6353 1"/>
</material>
</visual>
</link>
<joint name="finger_middle_joint_0" type="revolute">
<parent link="finger_middle_link_0"/>
<child link="finger_middle_link_1"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.020 0 0"/>
<limit effort="100" lower="0" upper="1.055" velocity="100"/>
</joint>
<joint name="finger_middle_joint_1" type="revolute">
<parent link="finger_middle_link_1"/>
<child link="finger_middle_link_2"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 -0.52" xyz="0.050 -.028 0"/>
<limit effort="100" lower="0" upper="1.5708" velocity="100"/>
</joint>
<joint name="finger_middle_joint_2" type="revolute">
<parent link="finger_middle_link_2"/>
<child link="finger_middle_link_3"/>
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.039 0 0"/>
<limit effort="100" lower="-0.7854" upper="3.1416" velocity="100"/>
</joint>
<joint name="finger_middle_fourbar_0_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<parent link="finger_middle_link_0"/>
<child link="finger_middle_fourbar_0_link_1"/>
<origin rpy="0 0 0" xyz="0.020 0 0"/>
<limit effort="100" lower="-2.10" upper="-0.255" velocity="100"/>
</joint>
<joint name="finger_middle_fourbar_0_joint_1" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_middle_fourbar_0_link_1"/>
<child link="finger_middle_fourbar_0_link_2"/>
<origin rpy="0 0 0" xyz=".02858 0 0"/>
<limit effort="100" lower="1.092" upper="1.940" velocity="100"/>
</joint>
<joint name="finger_middle_fourbar_0_joint_2" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_middle_link_1"/>
<child link="finger_middle_fourbar_0_link_3"/>
<origin rpy="0 0 -0.52" xyz="0.050 -.028 0"/>
<limit effort="100" lower="-2.111" upper="-0.199" velocity="100"/>
</joint>
<loop_joint name="finger_middle_fourbar_0_joint_3" type="continuous">
<axis xyz="0 0 1"/>
<link1 link="finger_middle_fourbar_0_link_2" rpy="0 0 0" xyz=".05398 0 0"/>
<link2 link="finger_middle_fourbar_0_link_3" rpy="0 0 0" xyz=".01473 0 0"/>
</loop_joint>
<joint name="finger_middle_fourbar_3_joint_0" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_middle_link_2"/>
<child link="finger_middle_fourbar_3_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<limit effort="100" lower="-1.367" upper="-0.945" velocity="100"/>
</joint>
<joint name="finger_middle_fourbar_3_joint_1" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_middle_fourbar_3_link_1"/>
<child link="finger_middle_fourbar_3_link_2"/>
<origin rpy="0 0 0" xyz="0.02222 0 0"/>
<limit effort="100" lower="1.235" upper="1.613" velocity="100"/>
</joint>
<joint name="finger_middle_fourbar_3_joint_2" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_middle_link_3"/>
<child link="finger_middle_fourbar_3_link_3"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<limit effort="100" lower="-1.367" upper="-0.995" velocity="100"/>
</joint>
<loop_joint name="finger_middle_fourbar_3_joint_3" type="continuous">
<axis xyz="0 0 1"/>
<link1 link="finger_middle_fourbar_3_link_3" rpy="0 0 0" xyz="0.01270 0 0"/>
<link2 link="finger_middle_fourbar_3_link_2" rpy="0 0 0" xyz="0.03810 0 0"/>
</loop_joint>
<joint name="finger_middle_fourbar_linkage_joint_0" type="continuous">
<axis xyz="0 0 1"/>
<parent link="finger_middle_fourbar_0_link_3"/>
<child link="finger_middle_fourbar_linkage"/>
<origin rpy="0 0 0" xyz=".01473 0 0"/>
<limit effort="100" lower="1.4" upper="1.5" velocity="100"/>
</joint>
<loop_joint name="finger_middle_fourbar_linkage_joint_1" type="continuous">
<axis xyz="0 0 1"/>
<link1 link="finger_middle_fourbar_linkage" rpy="0 0 0" xyz=".015236 0 0"/>
<link2 link="finger_middle_fourbar_3_link_1" rpy="0 0 0" xyz=".02222 0 0"/>
</loop_joint>
<gazebo reference="finger_middle_link_0">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_link_1">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_link_2">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_link_3">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_fourbar_0_link_1">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_fourbar_0_link_2">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_fourbar_0_link_3">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_fourbar_3_link_1">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_fourbar_3_link_2">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_fourbar_3_link_3">
<material>Gazebo/FlatBlack</material>
<turnGravityOff>true</turnGravityOff>
</gazebo>
<gazebo reference="finger_middle_fourbar_linkage">