Commit 415d3be1 authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[urdf] Create talos_reduced.urdf. remove talos_small.urdf

* Arms have 8 DOF instead of 7 (include last gripper joint)
* include the grippers as a fixed joint
parent f6a990f0
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from talos_small.urdf.xacro | -->
<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
......@@ -13,10 +13,6 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" 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" xmlns:xacro="http://ros.org/wiki/xacro">
<!--
Talos configuration without the grippers
-->
<!--File includes-->
<!--Constant parameters-->
<!--File includes-->
......@@ -32,7 +28,8 @@
<!--File includes-->
<!--Constant parameters-->
<!--Constant parameters-->
<!-- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> -->
<!--File includes-->
<!-- VIRTUAL (mimic) JOINTS -->
<!-- 0.45deg -->
<!--************************-->
<!-- TORSO_2 (TILT) -->
......@@ -292,8 +289,8 @@
<!--
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL"/>
<geometry>
<mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/>
......@@ -1318,10 +1315,716 @@
<child link="wrist_left_ft_tool_link"/>
<origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
</joint>
<!--
<xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
<xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
-->
<link name="gripper_left_base_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
<mass value="0.61585"/>
<inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_base_link_joint" type="fixed">
<parent link="wrist_left_ft_tool_link"/>
<child link="gripper_left_base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
<axis xyz="0 0 0"/>
</joint>
<link name="gripper_left_motor_double_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
<mass value="0.16889"/>
<!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
<inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_joint" type="revolute">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_motor_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="gripper_left_inner_double_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
<mass value="0.11922"/>
<inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_inner_double_joint" type="fixed">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_inner_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
</joint>
<link name="gripper_left_fingertip_1_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_fingertip_1_joint" type="fixed">
<parent link="gripper_left_inner_double_link"/>
<child link="gripper_left_fingertip_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_left_fingertip_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_fingertip_2_joint" type="fixed">
<parent link="gripper_left_inner_double_link"/>
<child link="gripper_left_fingertip_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_left_motor_single_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
<mass value="0.14765"/>
<inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_motor_single_joint" type="fixed">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_motor_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_left_inner_single_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
<mass value="0.05356"/>
<inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_inner_single_joint" type="fixed">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_inner_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_left_fingertip_3_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_left_fingertip_3_joint" type="fixed">
<parent link="gripper_left_inner_single_link"/>
<child link="gripper_left_fingertip_3_link"/>
<origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<gazebo>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_inner_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_motor_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
<!-- <hasPID/> -->
</plugin>
</gazebo>
<!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
<actuatedJoint>${name}_joint</actuatedJoint>
<virtualJoint>
<name>${name}_inner_double_joint</name>
<scale_factor>1.0</scale_factor>
</virtualJoint> -->
<!-- <virtualJoint>
<name>${name}_fingertip_1_joint</name>
<scale_factor>-1.0</scale_factor>
</virtualJoint>
<virtualJoint>
<name>${name}_fingertip_2_joint</name>
<scale_factor>-1.0</scale_factor>
</virtualJoint>
<virtualJoint>
<name>${name}_motor_single_joint</name>
<scale_factor>1.0</scale_factor>
</virtualJoint>
<virtualJoint>
<name>${name}_fingertip_3_joint</name>
<scale_factor>-1.0</scale_factor>
</virtualJoint> -->
<!-- </plugin> -->
<gazebo reference="gripper_left_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_inner_double_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_fingertip_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_fingertip_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_motor_single_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_fingertip_3_joint">
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
<gazebo reference="gripper_left_base_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="gripper_left_motor_double_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="gripper_left_inner_double_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="gripper_left_fingertip_1_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="gripper_left_motor_single_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="gripper_left_inner_single_link">
<material>Gazebo/Orange</material>
</gazebo>
<gazebo reference="gripper_left_fingertip_2_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="gripper_left_fingertip_3_link">
<material>Gazebo/FlatBlack</material>
</gazebo>
<transmission name="gripper_left_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="gripper_left_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="gripper_left_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- virtual mimic joints -->
<!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
<link name="gripper_right_base_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
<mass value="0.61585"/>
<inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_right_base_link_joint" type="fixed">
<parent link="wrist_right_ft_tool_link"/>
<child link="gripper_right_base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
<axis xyz="0 0 0"/>
</joint>
<link name="gripper_right_motor_double_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
<mass value="0.16889"/>
<!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
<inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_right_joint" type="revolute">
<parent link="gripper_right_base_link"/>
<child link="gripper_right_motor_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="gripper_right_inner_double_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
<mass value="0.11922"/>
<inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_right_inner_double_joint" type="fixed">
<parent link="gripper_right_base_link"/>
<child link="gripper_right_inner_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
<mimic joint="gripper_right_joint" multiplier="1.0" offset="0.0"/>
</joint>
<link name="gripper_right_fingertip_1_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_right_fingertip_1_joint" type="fixed">
<parent link="gripper_right_inner_double_link"/>
<child link="gripper_right_fingertip_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_right_fingertip_2_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_right_fingertip_2_joint" type="fixed">
<parent link="gripper_right_inner_double_link"/>
<child link="gripper_right_fingertip_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_right_motor_single_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
<mass value="0.14765"/>
<inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_right_motor_single_joint" type="fixed">
<parent link="gripper_right_base_link"/>
<child link="gripper_right_motor_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_right_inner_single_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
<mass value="0.05356"/>
<inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="gripper_right_inner_single_joint" type="fixed">
<parent link="gripper_right_base_link"/>
<child link="gripper_right_inner_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
<axis xyz="1 0 0"/>
<limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
<mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
</joint>
<link name="gripper_right_fingertip_3_link">
<inertial>
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
<mass value="0.02630"/>
<inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>