<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from m1n4s200_standalone.xacro      | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!-- m1n4_2 refers to mico v1 6DOF non-spherical 2fingers -->
<robot name="m1n4s200" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">
  <!-- links      		mesh_no
   base           		0
   shoulder       		1
   arm            		2
   forearm        		3
   wrist          		4
   arm_mico       		5
   arm_half1 (7dof)		6
   arm_half2 (7dof)		7
   wrist_spherical_1  8
   wrist_spherical_2  9

   hand 3 finger  		55
   hand_2finger   		56
   finger_proximal		57
   finger_distal      58 
-->
  <!-- links      		mesh_no
   base           		0
   shoulder       		1
   arm            		2
   forearm        		3
   wrist          		4
   arm_mico       		5
   arm_half1 (7dof)		6
   arm_half2 (7dof)		7
   wrist_spherical_1  8
   wrist_spherical_2  9

   hand 3 finger  		55
   hand_2finger   		56
   finger_proximal		57
   finger_distal      58 
-->
  <link name="root">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0 0 0"/>
      </geometry>
      <!--<material name="Black" /> -->
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0 0 0"/>
      </geometry>
    </collision>
  </link>
  <!-- for gazebo -->
  <link name="world"/>
  <joint name="connect_root_and_world" type="fixed">
    <child link="root"/>
    <parent link="world"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <!-- ros_control plugin -->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>m1n4s200</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>
  <link name="m1n4s200_link_base">
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/base.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://kinova_description/meshes/base.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.46784"/>
      <origin rpy="0 0 0" xyz="0 0 0.1255"/>
      <inertia ixx="0.000951270861568" ixy="0" ixz="0" iyy="0.000951270861568" iyz="0" izz="0.000374272"/>
    </inertial>
  </link>
  <joint name="m1n4s200_joint_base" type="fixed">
    <parent link="root"/>
    <child link="m1n4s200_link_base"/>
    <axis xyz="0 0 0"/>
    <limit effort="2000" lower="0" upper="0" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="m1n4s200_link_1">
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_big.STL"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://kinova_description/meshes/shoulder.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.7477"/>
      <origin xyz="0 -0.002 -0.0605"/>
      <inertia ixx="0.00152031725204" ixy="0" ixz="0" iyy="0.00152031725204" iyz="0" izz="0.00059816"/>
    </inertial>
  </link>
  <joint name="m1n4s200_joint_1" type="continuous">
    <parent link="m1n4s200_link_base"/>
    <child link="m1n4s200_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="2000" lower="-6.28318530718" upper="6.28318530718" velocity="1"/>
    <origin rpy="0 3.14159265359 0" xyz="0 0 0.15675"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="m1n4s200_joint_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m1n4s200_joint_1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m1n4s200_joint_1_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>160</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="m1n4s200_link_2">
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/arm_mico.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_big.STL"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://kinova_description/meshes/arm_mico.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.85968"/>
      <origin xyz="0 -0.145  -0.0076"/>
      <inertia ixx="0.00467090931629" ixy="0" ixz="0" iyy="0.000386856" iyz="0" izz="0.00467090931629"/>
    </inertial>
  </link>
  <joint name="m1n4s200_joint_2" type="revolute">
    <parent link="m1n4s200_link_1"/>
    <child link="m1n4s200_link_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="2000" lower="0.872664625997" upper="5.41052068118" velocity="1"/>
    <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.0016 -0.11875"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="m1n4s200_joint_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m1n4s200_joint_2">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m1n4s200_joint_2_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>160</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="m1n4s200_link_3">
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/forearm_mico.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_big.STL"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://kinova_description/meshes/forearm_mico.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.606"/>
      <origin xyz="0 0.0463 -0.0065"/>
      <inertia ixx="0.0003837984648" ixy="0" ixz="0" iyy="0.0001212" iyz="0" izz="0.0003837984648"/>
    </inertial>
  </link>
  <joint name="m1n4s200_joint_3" type="revolute">
    <parent link="m1n4s200_link_2"/>
    <child link="m1n4s200_link_3"/>
    <axis xyz="0 0 1"/>
    <limit effort="2000" lower="0.610865238198" upper="5.67232006898" velocity="1"/>
    <origin rpy="0 3.14159265359 0" xyz="0 -0.290 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="m1n4s200_joint_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m1n4s200_joint_3">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m1n4s200_joint_3_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>160</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="m1n4s200_link_4">
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_small.STL"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://kinova_description/meshes/hand_2finger.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.78"/>
      <origin xyz="0 0 -0.06"/>
      <inertia ixx="0.000370498518" ixy="0" ixz="0" iyy="0.000370498518" iyz="0" izz="0.000624"/>
    </inertial>
  </link>
  <joint name="m1n4s200_joint_4" type="continuous">
    <parent link="m1n4s200_link_3"/>
    <child link="m1n4s200_link_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="2000" lower="-6.28318530718" upper="6.28318530718" velocity="1"/>
    <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.1231 -0.0086"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <transmission name="m1n4s200_joint_4_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m1n4s200_joint_4">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m1n4s200_joint_4_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>160</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="m1n4s200_end_effector">
    <visual>
      <geometry>
        <box size="0 0 0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0 0 0"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_end_effector" type="fixed">
    <parent link="m1n4s200_link_4"/>
    <child link="m1n4s200_end_effector"/>
    <axis xyz="0 0 0"/>
    <limit effort="2000" lower="0" upper="0" velocity="1"/>
    <origin rpy="3.14159265359 0 1.57079632679" xyz="0 0 -0.1600"/>
  </joint>
  <link name="m1n4s200_link_finger_1">
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="m1n4s200_joint_finger_1" type="revolute">
    <parent link="m1n4s200_link_4"/>
    <child link="m1n4s200_link_finger_1"/>
    <axis xyz="0 0 1"/>
    <origin rpy="-1.570796327 .649262481663582 1.57079632679490" xyz="-0.0025 0.03095 -0.11482"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
  <transmission name="m1n4s200_joint_finger_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m1n4s200_joint_finger_1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m1n4s200_joint_finger_1_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="m1n4s200_link_finger_tip_1">
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="m1n4s200_joint_finger_tip_1" type="fixed">
    <parent link="m1n4s200_link_finger_1"/>
    <child link="m1n4s200_link_finger_tip_1"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
  <link name="m1n4s200_link_finger_2">
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="m1n4s200_joint_finger_2" type="revolute">
    <parent link="m1n4s200_link_4"/>
    <child link="m1n4s200_link_finger_2"/>
    <axis xyz="0 0 1"/>
    <origin rpy="-1.570796327 .649262481663582 -1.57079632679490" xyz="-0.0025 -0.03095 -0.11482"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
  <transmission name="m1n4s200_joint_finger_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m1n4s200_joint_finger_2">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m1n4s200_joint_finger_2_actuator">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <link name="m1n4s200_link_finger_tip_2">
    <visual>
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="m1n4s200_joint_finger_tip_2" type="fixed">
    <parent link="m1n4s200_link_finger_2"/>
    <child link="m1n4s200_link_finger_tip_2"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
</robot>
