From 083e77ecb62c34c5df71e7231d0c59fe6223c330 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Fri, 19 Jun 2020 15:48:44 +0200
Subject: [PATCH] panda: add robot description

edit: fix meshes with meshlab
---
 .../meshes/collision/finger.stl               | Bin 0 -> 1684 bytes
 .../meshes/collision/hand.stl                 | Bin 0 -> 10084 bytes
 .../meshes/collision/link0.stl                | Bin 0 -> 10084 bytes
 .../meshes/collision/link1.stl                | Bin 0 -> 15084 bytes
 .../meshes/collision/link2.stl                | Bin 0 -> 15084 bytes
 .../meshes/collision/link3.stl                | Bin 0 -> 15084 bytes
 .../meshes/collision/link4.stl                | Bin 0 -> 15084 bytes
 .../meshes/collision/link5.stl                | Bin 0 -> 15084 bytes
 .../meshes/collision/link6.stl                | Bin 0 -> 10084 bytes
 .../meshes/collision/link7.stl                | Bin 0 -> 10084 bytes
 .../meshes/visual/finger.dae                  |  63 +++++
 .../panda_description/meshes/visual/hand.dae  |  63 +++++
 .../panda_description/meshes/visual/link0.dae |  63 +++++
 .../panda_description/meshes/visual/link1.dae |  63 +++++
 .../panda_description/meshes/visual/link2.dae |  63 +++++
 .../panda_description/meshes/visual/link3.dae |  63 +++++
 .../panda_description/meshes/visual/link4.dae |  63 +++++
 .../panda_description/meshes/visual/link5.dae |  63 +++++
 .../panda_description/meshes/visual/link6.dae |  63 +++++
 .../panda_description/meshes/visual/link7.dae |  63 +++++
 robots/panda_description/urdf/panda.urdf      | 220 ++++++++++++++++++
 21 files changed, 850 insertions(+)
 create mode 100644 robots/panda_description/meshes/collision/finger.stl
 create mode 100644 robots/panda_description/meshes/collision/hand.stl
 create mode 100644 robots/panda_description/meshes/collision/link0.stl
 create mode 100644 robots/panda_description/meshes/collision/link1.stl
 create mode 100644 robots/panda_description/meshes/collision/link2.stl
 create mode 100644 robots/panda_description/meshes/collision/link3.stl
 create mode 100644 robots/panda_description/meshes/collision/link4.stl
 create mode 100644 robots/panda_description/meshes/collision/link5.stl
 create mode 100644 robots/panda_description/meshes/collision/link6.stl
 create mode 100644 robots/panda_description/meshes/collision/link7.stl
 create mode 100644 robots/panda_description/meshes/visual/finger.dae
 create mode 100644 robots/panda_description/meshes/visual/hand.dae
 create mode 100644 robots/panda_description/meshes/visual/link0.dae
 create mode 100644 robots/panda_description/meshes/visual/link1.dae
 create mode 100644 robots/panda_description/meshes/visual/link2.dae
 create mode 100644 robots/panda_description/meshes/visual/link3.dae
 create mode 100644 robots/panda_description/meshes/visual/link4.dae
 create mode 100644 robots/panda_description/meshes/visual/link5.dae
 create mode 100644 robots/panda_description/meshes/visual/link6.dae
 create mode 100644 robots/panda_description/meshes/visual/link7.dae
 create mode 100644 robots/panda_description/urdf/panda.urdf

diff --git a/robots/panda_description/meshes/collision/finger.stl b/robots/panda_description/meshes/collision/finger.stl
new file mode 100644
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diff --git a/robots/panda_description/meshes/collision/hand.stl b/robots/panda_description/meshes/collision/hand.stl
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diff --git a/robots/panda_description/meshes/collision/link0.stl b/robots/panda_description/meshes/collision/link0.stl
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diff --git a/robots/panda_description/meshes/collision/link2.stl b/robots/panda_description/meshes/collision/link2.stl
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diff --git a/robots/panda_description/meshes/collision/link4.stl b/robots/panda_description/meshes/collision/link4.stl
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diff --git a/robots/panda_description/meshes/collision/link5.stl b/robots/panda_description/meshes/collision/link5.stl
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diff --git a/robots/panda_description/meshes/visual/finger.dae b/robots/panda_description/meshes/visual/finger.dae
new file mode 100644
index 0000000..d9a56d6
--- /dev/null
+++ b/robots/panda_description/meshes/visual/finger.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>ven. juin 19 15:45:40 2020</created>
+        <modified>ven. juin 19 15:45:40 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/meshes/visual/hand.dae b/robots/panda_description/meshes/visual/hand.dae
new file mode 100644
index 0000000..5363977
--- /dev/null
+++ b/robots/panda_description/meshes/visual/hand.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>ven. juin 19 15:45:54 2020</created>
+        <modified>ven. juin 19 15:45:54 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
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+                        <accessor count="7078" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/meshes/visual/link0.dae b/robots/panda_description/meshes/visual/link0.dae
new file mode 100644
index 0000000..b54ce01
--- /dev/null
+++ b/robots/panda_description/meshes/visual/link0.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
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+        <created>ven. juin 19 15:46:15 2020</created>
+        <modified>ven. juin 19 15:46:15 2020</modified>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/meshes/visual/link1.dae b/robots/panda_description/meshes/visual/link1.dae
new file mode 100644
index 0000000..1158d7c
--- /dev/null
+++ b/robots/panda_description/meshes/visual/link1.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>ven. juin 19 15:46:26 2020</created>
+        <modified>ven. juin 19 15:46:26 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/meshes/visual/link2.dae b/robots/panda_description/meshes/visual/link2.dae
new file mode 100644
index 0000000..634f272
--- /dev/null
+++ b/robots/panda_description/meshes/visual/link2.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>ven. juin 19 15:46:37 2020</created>
+        <modified>ven. juin 19 15:46:37 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/meshes/visual/link3.dae b/robots/panda_description/meshes/visual/link3.dae
new file mode 100644
index 0000000..5ab875e
--- /dev/null
+++ b/robots/panda_description/meshes/visual/link3.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>ven. juin 19 15:46:48 2020</created>
+        <modified>ven. juin 19 15:46:48 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/meshes/visual/link4.dae b/robots/panda_description/meshes/visual/link4.dae
new file mode 100644
index 0000000..21ec284
--- /dev/null
+++ b/robots/panda_description/meshes/visual/link4.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>ven. juin 19 15:46:59 2020</created>
+        <modified>ven. juin 19 15:46:59 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/meshes/visual/link5.dae b/robots/panda_description/meshes/visual/link5.dae
new file mode 100644
index 0000000..8cbf82e
--- /dev/null
+++ b/robots/panda_description/meshes/visual/link5.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>ven. juin 19 15:47:17 2020</created>
+        <modified>ven. juin 19 15:47:17 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/meshes/visual/link6.dae b/robots/panda_description/meshes/visual/link6.dae
new file mode 100644
index 0000000..ab46916
--- /dev/null
+++ b/robots/panda_description/meshes/visual/link6.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>ven. juin 19 15:47:31 2020</created>
+        <modified>ven. juin 19 15:47:31 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
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+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/meshes/visual/link7.dae b/robots/panda_description/meshes/visual/link7.dae
new file mode 100644
index 0000000..ef0c66b
--- /dev/null
+++ b/robots/panda_description/meshes/visual/link7.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>ven. juin 19 15:47:41 2020</created>
+        <modified>ven. juin 19 15:47:41 2020</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
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+                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
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12060 6199 12060 6364 12060 6362 12061 6224 12061 5997 12061 5995 12062 5996 12062 6363 12062 6207 12063 6363 12063 6365 12063 6363 12064 5996 12064 6365 12064 5994 12065 6367 12065 6214 12065 5995 12066 6363 12066 6210 12066 5997 12067 6364 12067 5991 12067 6205 12068 5996 12068 6203 12068 5996 12069 6366 12069 6203 12069 5990 12070 6366 12070 5996 12070 6203 12071 6366 12071 6200 12071 5997 12072 6224 12072 6199 12072 6350 12073 3585 12073 5986 12073 6224 12074 6362 12074 6221 12074 5947 12075 6352 12075 6362 12075 6221 12076 6351 12076 6368 12076 6368 12077 6219 12077 6221 12077 6352 12078 6221 12078 6362 12078 6351 12079 6221 12079 6352 12079 6350 12080 5986 12080 6368 12080 6219 12081 6368 12081 5986 12081</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/panda_description/urdf/panda.urdf b/robots/panda_description/urdf/panda.urdf
new file mode 100644
index 0000000..adf328d
--- /dev/null
+++ b/robots/panda_description/urdf/panda.urdf
@@ -0,0 +1,220 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <link name="panda_link0">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link0.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link0.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="panda_link1">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link1.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint1" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="0 0 0" xyz="0 0 0.333" />
+        <parent link="panda_link0" />
+        <child link="panda_link1" />
+        <axis xyz="0 0 1" />
+        <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
+    </joint>
+    <link name="panda_link2">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link2.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint2" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
+        <origin rpy="-1.57079632679 0 0" xyz="0 0 0" />
+        <parent link="panda_link1" />
+        <child link="panda_link2" />
+        <axis xyz="0 0 1" />
+        <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" />
+    </joint>
+    <link name="panda_link3">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link3.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint3" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0" />
+        <parent link="panda_link2" />
+        <child link="panda_link3" />
+        <axis xyz="0 0 1" />
+        <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
+    </joint>
+    <link name="panda_link4">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link4.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint4" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="0.0175" />
+        <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
+        <parent link="panda_link3" />
+        <child link="panda_link4" />
+        <axis xyz="0 0 1" />
+        <limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" />
+    </joint>
+    <link name="panda_link5">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link5.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint5" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0" />
+        <parent link="panda_link4" />
+        <child link="panda_link5" />
+        <axis xyz="0 0 1" />
+        <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
+    </joint>
+    <link name="panda_link6">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link6.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint6" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525" />
+        <origin rpy="1.57079632679 0 0" xyz="0 0 0" />
+        <parent link="panda_link5" />
+        <child link="panda_link6" />
+        <axis xyz="0 0 1" />
+        <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" />
+    </joint>
+    <link name="panda_link7">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link7.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_joint7" type="revolute">
+        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
+        <origin rpy="1.57079632679 0 0" xyz="0.088 0 0" />
+        <parent link="panda_link6" />
+        <child link="panda_link7" />
+        <axis xyz="0 0 1" />
+        <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
+    </joint>
+    <link name="panda_link8" />
+    <joint name="panda_joint8" type="fixed">
+        <origin rpy="0 0 0" xyz="0 0 0.107" />
+        <parent link="panda_link7" />
+        <child link="panda_link8" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <joint name="panda_hand_joint" type="fixed">
+        <parent link="panda_link8" />
+        <child link="panda_hand" />
+        <origin rpy="0 0 -0.785398163397" xyz="0 0 0" />
+    </joint>
+    <link name="panda_hand">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/hand.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="panda_leftfinger">
+        <visual>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/finger.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <link name="panda_rightfinger">
+        <visual>
+            <origin rpy="0 0 3.14159265359" xyz="0 0 0" />
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin rpy="0 0 3.14159265359" xyz="0 0 0" />
+            <geometry>
+                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/finger.stl" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="panda_finger_joint1" type="prismatic">
+        <parent link="panda_hand" />
+        <child link="panda_leftfinger" />
+        <origin rpy="0 0 0" xyz="0 0 0.0584" />
+        <axis xyz="0 1 0" />
+        <limit effort="20" lower="0.0" upper="0.04" velocity="0.2" />
+    </joint>
+    <joint name="panda_finger_joint2" type="prismatic">
+        <parent link="panda_hand" />
+        <child link="panda_rightfinger" />
+        <origin rpy="0 0 0" xyz="0 0 0.0584" />
+        <axis xyz="0 -1 0" />
+        <limit effort="20" lower="0.0" upper="0.04" velocity="0.2" />
+        <mimic joint="panda_finger_joint1" />
+    </joint>
+</robot>
-- 
GitLab