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poppy_ergo_jr.pybullet.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from poppy_ergo_jr.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="poppy_ergo_jr">
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/base.stl"/>
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.038 0.015"/>
<geometry>
<cylinder length="0.03" radius="0.08"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="long_U">
<visual>
<origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/long_U.stl"/>
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
</inertial>
</link>
<joint name="m1" type="continuous">
<origin rpy="0 0 0" xyz="0 0 0.0327993216120967"/>
<parent link="base_link"/>
<child link="long_U"/>
<axis xyz="0 0 1"/>
</joint>
<link name="section_1">
<visual>
<origin rpy="0 1.5707963267949 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/section_1.stl"/>
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 1.5707963267949 0" xyz="0.025 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
</inertial>
</link>
<joint name="m2" type="continuous">
<origin rpy="0 -1.5707963267949 0" xyz="0 0 0.0240006783879033"/>
<parent link="long_U"/>
<child link="section_1"/>
<axis xyz="0 0 -1"/>
</joint>
<link name="section_2">
<visual>
<origin rpy="0 1.5707963267949 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/section_2.stl"/>
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="0 1.5707963267949 0" xyz="0.025 0 0"/>
<geometry>
<cylinder length="0.05" radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
</inertial>
</link>
<joint name="m3" type="continuous">
<origin rpy="0 0 0" xyz="0.054 0 0"/>
<parent link="section_1"/>
<child link="section_2"/>
<axis xyz="0 0 -1"/>
</joint>
<link name="section_3">
<visual>
<origin rpy="0 3.14159268 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/section_3.stl"/>
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="1.5707963267949 0 0" xyz="0 -0.025 0"/>
<geometry>
<cylinder length="0.05" radius="0.02"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
</inertial>
</link>
<joint name="m4" type="continuous">
<origin rpy="0 -1.5707963267949 0" xyz="0.045 0 0"/>
<parent link="section_2"/>
<child link="section_3"/>
<axis xyz="0 0 -1"/>
</joint>
<link name="section_4">
<visual>
<origin rpy="0 -1.5707963267949 0" xyz="0 -0.058 0"/>
<geometry>
<!-- This link mesh includes both the wrist and fixed finger-->
<mesh filename="meshes/section_4.stl"/>
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
</material>
</visual>
<collision>
<origin rpy="1.5707963267949 0 0" xyz="0 -0.035 0"/>
<geometry>
<!-- <cylinder length="0.06" radius="0.02"/> -->
<cylinder length="0.03" radius="0.02"/>
<box size="0.05 0.02 0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
</inertial>
</link>
<joint name="m5" type="continuous">
<origin rpy="0 -1.5707963267949 0" xyz="0 -0.048 0"/>
<parent link="section_3"/>
<child link="section_4"/>
<axis xyz="0 0 1"/>
</joint>
<link name="fixed_tip">
<!-- comment visual placeholder to see collision shape -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry><box size="0 0 0"/></geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.0125 0"/>
<geometry>
<box size="0.020 0.025 0.003"/>
</geometry>
</collision>
<inertial>
<mass value="1.0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="t7f" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.125 0.0155"/>
<parent link="section_4"/>
<child link="fixed_tip"/>
</joint>
<link name="section_5">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<!-- This mesh is the movable finger -->
<mesh filename="meshes/gripper.stl"/>
</geometry>
<material name="">
<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
</material>
</visual>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
</inertial>
</link>
<joint name="m6" type="continuous">
<origin rpy="0 -1.5707963267949 0" xyz="0 -0.058 0"/>
<axis xyz="0 0 -1"/>
<parent link="section_4"/>
<child link="section_5"/>
</joint>
<link name="moving_tip">
<!-- comment visual placeholder to see collision shape -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry><box size="0 0 0"/></geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.0125 0"/>
<geometry>
<box size="0.003 0.025 0.02"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="t7m" type="fixed">
<origin rpy="0 0 0" xyz="-0.0155 -0.0675 0"/>
<parent link="section_5"/>
<child link="moving_tip"/>
</joint>
<transmission name="trans_m1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m1_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_m2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m2_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_m3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m3_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_m4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m4_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_m5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m5_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_m6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="m6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="m6_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>