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Commit 1fb6cdac authored by Marko Guberina's avatar Marko Guberina
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yumi_urdf

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from yumi.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="abb_yumi">
<!-- - - - YuMi - - - -->
<link name="base_link">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/base_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/base_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.122236 0.028996 0.017672"/>
<mass value="30.0"/>
<inertia ixx="1.61664025" ixy="0.0" ixz="0.0" iyy="1.90523836" iyz="0.0" izz="1.34940618"/>
</inertial>
</link>
<link name="base">
</link>
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="base"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<gazebo reference="base_link">
<material>Gazebo/White</material>
<turnGravityOff>False</turnGravityOff>
</gazebo>
<link name="robl_base_link">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<mass value="0.5"/>
<inertia ixx="0.00083333" ixy="0.0" ixz="0.0" iyy="0.00083333" iyz="0.0" izz="0.00083333"/>
</inertial>
</link>
<link name="robl_link_1">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_1_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_1_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.0102903 0.0225876 0.0585935"/>
<mass value="0.9629233"/>
<inertia ixx="0.0030634" ixy="0.00025149" ixz="0.00052912" iyy="0.00302651" iyz="-0.00085524" izz="0.00165401"/>
</inertial>
</link>
<link name="robl_link_2">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_2_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_2_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0178625 -0.0146039 0.0642901"/>
<mass value="1.4105"/>
<inertia ixx="0.00705656" ixy="-0.00022304" ixz="-0.00110629" iyy="0.00698719" iyz="-0.00115557" izz="0.00227954"/>
</inertial>
</link>
<link name="robl_link_3">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_3_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_3_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0201733 0.0266755 0.0620484"/>
<mass value="0.7187233"/>
<inertia ixx="0.00156497" ixy="-0.00022216" ixz="-0.00042641" iyy="0.00177346" iyz="-0.00041747" izz="0.00113318"/>
</inertial>
</link>
<link name="robl_link_4">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_4_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_4_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0559113 -0.015687 0.0226745"/>
<mass value="1.1807964"/>
<inertia ixx="0.00187228" ixy="-0.00093911" ixz="-0.00117309" iyy="0.00529598" iyz="-0.00029449" izz="0.00518088"/>
</inertial>
</link>
<link name="robl_link_5">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_5_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_5_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0708236 0.0278214 -0.0074085"/>
<mass value="0.3434158"/>
<inertia ixx="0.000364277603" ixy="-0.000253381412" ixz="0.000131795094" iyy="0.000720976878" iyz="5.00695671e-05" izz="0.000787541057"/>
</inertial>
</link>
<link name="robl_link_6">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_6_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_6_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.0123616 -0.009411 0.0113342"/>
<mass value="0.4703021"/>
<inertia ixx="0.0005976" ixy="3.69e-05" ixz="-7.41e-05" iyy="0.0006515" iyz="-2.32e-05" izz="0.0005894"/>
</inertial>
</link>
<link name="robl_link_7">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_7_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_7_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.01155172 0.00013113 7.43e-06"/>
<mass value="0.04167441"/>
<inertia ixx="2.75680598e-05" ixy="0.0" ixz="0.0" iyy="2.03557822e-05" iyz="0.0" izz="2.03553446e-05"/>
</inertial>
</link>
<link name="robl_flange">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<mass value="0.001"/>
<inertia ixx="1.66666667e-08" ixy="0.0" ixz="0.0" iyy="1.66666667e-08" iyz="0.0" izz="1.66666667e-08"/>
</inertial>
</link>
<link name="robl_tool0">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<mass value="0.001"/>
<inertia ixx="1.66666667e-08" ixy="0.0" ixz="0.0" iyy="1.66666667e-08" iyz="0.0" izz="1.66666667e-08"/>
</inertial>
</link>
<joint name="robl_base_joint" type="fixed">
<parent link="base_link"/>
<child link="robl_base_link"/>
<origin rpy="-0.9790773504912591 0.5692042289529107 -0.8254185631456783" xyz="0.047607 0.070008 0.411486"/>
</joint>
<joint name="robl_joint_1" type="revolute">
<parent link="robl_base_link"/>
<child link="robl_link_1"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="10.0" lower="-2.9408797896104453" upper="2.9408797896104453" velocity="3.141592653589793"/>
<dynamics damping="1.06" friction="0.0"/>
</joint>
<joint name="robl_joint_2" type="revolute">
<parent link="robl_link_1"/>
<child link="robl_link_2"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.03 0.0 0.1075"/>
<axis xyz="0 1 0"/>
<limit effort="10.0" lower="-2.504547476611863" upper="0.7592182246175333" velocity="3.141592653589793"/>
<dynamics damping="1.09" friction="0.0"/>
</joint>
<joint name="robl_joint_3" type="revolute">
<parent link="robl_link_2"/>
<child link="robl_link_3"/>
<origin rpy="0.0 0.0 0.0" xyz="0.03 0.0 0.1603"/>
<axis xyz="0 0 1"/>
<limit effort="10.0" lower="-2.9408797896104453" upper="2.9408797896104453" velocity="3.141592653589793"/>
<dynamics damping="0.61" friction="0.0"/>
</joint>
<joint name="robl_joint_4" type="revolute">
<parent link="robl_link_3"/>
<child link="robl_link_4"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0405 0.0 0.0912"/>
<axis xyz="0 1 0"/>
<limit effort="10.0" lower="-2.155481626212997" upper="1.3962634015954636" velocity="3.141592653589793"/>
<dynamics damping="0.08" friction="0.0"/>
</joint>
<joint name="robl_joint_5" type="revolute">
<parent link="robl_link_4"/>
<child link="robl_link_5"/>
<origin rpy="0.0 0.0 0.0" xyz="0.1396 0.0 0.0405"/>
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="-5.061454830783556" upper="5.061454830783556" velocity="6.981317007977318"/>
<dynamics damping="0.08" friction="0.0"/>
</joint>
<joint name="robl_joint_6" type="revolute">
<parent link="robl_link_5"/>
<child link="robl_link_6"/>
<origin rpy="0.0 0.0 0.0" xyz="0.1254 0.0 -0.027"/>
<axis xyz="0 1 0"/>
<limit effort="1.0" lower="-1.53588974175501" upper="2.356194490192345" velocity="6.981317007977318"/>
<dynamics damping="0.08" friction="0.0"/>
</joint>
<joint name="robl_joint_7" type="revolute">
<parent link="robl_link_6"/>
<child link="robl_link_7"/>
<origin rpy="0.0 0.0 0.0" xyz="0.036 0.0 0.027"/>
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="-3.9968039870670147" upper="3.9968039870670147" velocity="6.981317007977318"/>
<dynamics damping="0.039" friction="0.0"/>
</joint>
<joint name="robl_joint_7_flange" type="fixed">
<parent link="robl_link_7"/>
<child link="robl_flange"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<joint name="robl_flange_tool0" type="fixed">
<parent link="robl_flange"/>
<child link="robl_tool0"/>
<origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<transmission name="robl_transmission_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robl_joint_1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robl_joint_1_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robl_transmission_2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robl_joint_2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robl_joint_2_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robl_transmission_3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robl_joint_3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robl_joint_3_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robl_transmission_4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robl_joint_4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robl_joint_4_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robl_transmission_5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robl_joint_5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robl_joint_5_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robl_transmission_6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robl_joint_6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robl_joint_6_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robl_transmission_7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robl_joint_7">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robl_joint_7_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="robl_base_joint">
<preserveFixedJoint>True</preserveFixedJoint>
</gazebo>
<gazebo reference="robl_link_1">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_link_2">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_link_3">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_link_4">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_link_5">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_link_6">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_link_7">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_flange">
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_tool0">
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_flange_tool0">
<preserveFixedJoint>True</preserveFixedJoint>
</gazebo>
<gazebo>
<plugin filename="libabb_gazebo_libegm.so" name="gazebo_robl">
<controller_rate>250.0</controller_rate>
<base_link>robl_base_link</base_link>
<end_effector_link>robl_tool0</end_effector_link>
<egm_server_ip>127.0.0.1</egm_server_ip>
<egm_server_port>6511</egm_server_port>
<joint name="robl_joint_1" position="0.0"/>
<joint name="robl_joint_2" position="-2.2689280275926285"/>
<external_joint name="robl_joint_3" position="2.356194490192345"/>
<joint name="robl_joint_4" position="0.5235987755982988"/>
<joint name="robl_joint_5" position="0.0"/>
<joint name="robl_joint_6" position="0.6981317007977318"/>
<joint name="robl_joint_7" position="0.0"/>
</plugin>
</gazebo>
<link name="robr_base_link">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<mass value="0.5"/>
<inertia ixx="0.00083333" ixy="0.0" ixz="0.0" iyy="0.00083333" iyz="0.0" izz="0.00083333"/>
</inertial>
</link>
<link name="robr_link_1">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_1_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_1_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.0102903 0.0225876 0.0585935"/>
<mass value="0.9629233"/>
<inertia ixx="0.0030634" ixy="0.00025149" ixz="0.00052912" iyy="0.00302651" iyz="-0.00085524" izz="0.00165401"/>
</inertial>
</link>
<link name="robr_link_2">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_2_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_2_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0178625 -0.0146039 0.0642901"/>
<mass value="1.4105"/>
<inertia ixx="0.00705656" ixy="-0.00022304" ixz="-0.00110629" iyy="0.00698719" iyz="-0.00115557" izz="0.00227954"/>
</inertial>
</link>
<link name="robr_link_3">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_3_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_3_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0201733 0.0266755 0.0620484"/>
<mass value="0.7187233"/>
<inertia ixx="0.00156497" ixy="-0.00022216" ixz="-0.00042641" iyy="0.00177346" iyz="-0.00041747" izz="0.00113318"/>
</inertial>
</link>
<link name="robr_link_4">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_4_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_4_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0559113 -0.015687 0.0226745"/>
<mass value="1.1807964"/>
<inertia ixx="0.00187228" ixy="-0.00093911" ixz="-0.00117309" iyy="0.00529598" iyz="-0.00029449" izz="0.00518088"/>
</inertial>
</link>
<link name="robr_link_5">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_5_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_5_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0708236 0.0278214 -0.0074085"/>
<mass value="0.3434158"/>
<inertia ixx="0.000364277603" ixy="-0.000253381412" ixz="0.000131795094" iyy="0.000720976878" iyz="5.00695671e-05" izz="0.000787541057"/>
</inertial>
</link>
<link name="robr_link_6">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_6_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_6_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.0123616 -0.009411 0.0113342"/>
<mass value="0.4703021"/>
<inertia ixx="0.0005976" ixy="3.69e-05" ixz="-7.41e-05" iyy="0.0006515" iyz="-2.32e-05" izz="0.0005894"/>
</inertial>
</link>
<link name="robr_link_7">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/visual/rob_7_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_irb14000_description/meshes/irb14000_05_50/collision/rob_7_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.01155172 0.00013113 7.43e-06"/>
<mass value="0.04167441"/>
<inertia ixx="2.75680598e-05" ixy="0.0" ixz="0.0" iyy="2.03557822e-05" iyz="0.0" izz="2.03553446e-05"/>
</inertial>
</link>
<link name="robr_flange">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<mass value="0.001"/>
<inertia ixx="1.66666667e-08" ixy="0.0" ixz="0.0" iyy="1.66666667e-08" iyz="0.0" izz="1.66666667e-08"/>
</inertial>
</link>
<link name="robr_tool0">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<mass value="0.001"/>
<inertia ixx="1.66666667e-08" ixy="0.0" ixz="0.0" iyy="1.66666667e-08" iyz="0.0" izz="1.66666667e-08"/>
</inertial>
</link>
<joint name="robr_base_joint" type="fixed">
<parent link="base_link"/>
<child link="robr_base_link"/>
<origin rpy="0.9790773504912591 0.5692042289529107 0.8254185631456783" xyz="0.047607 -0.070008 0.411486"/>
</joint>
<joint name="robr_joint_1" type="revolute">
<parent link="robr_base_link"/>
<child link="robr_link_1"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="10.0" lower="-2.9408797896104453" upper="2.9408797896104453" velocity="3.141592653589793"/>
<dynamics damping="1.06" friction="0.0"/>
</joint>
<joint name="robr_joint_2" type="revolute">
<parent link="robr_link_1"/>
<child link="robr_link_2"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.03 0.0 0.1075"/>
<axis xyz="0 1 0"/>
<limit effort="10.0" lower="-2.504547476611863" upper="0.7592182246175333" velocity="3.141592653589793"/>
<dynamics damping="1.09" friction="0.0"/>
</joint>
<joint name="robr_joint_3" type="revolute">
<parent link="robr_link_2"/>
<child link="robr_link_3"/>
<origin rpy="0.0 0.0 0.0" xyz="0.03 0.0 0.1603"/>
<axis xyz="0 0 1"/>
<limit effort="10.0" lower="-2.9408797896104453" upper="2.9408797896104453" velocity="3.141592653589793"/>
<dynamics damping="0.61" friction="0.0"/>
</joint>
<joint name="robr_joint_4" type="revolute">
<parent link="robr_link_3"/>
<child link="robr_link_4"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0405 0.0 0.0912"/>
<axis xyz="0 1 0"/>
<limit effort="10.0" lower="-2.155481626212997" upper="1.3962634015954636" velocity="3.141592653589793"/>
<dynamics damping="0.08" friction="0.0"/>
</joint>
<joint name="robr_joint_5" type="revolute">
<parent link="robr_link_4"/>
<child link="robr_link_5"/>
<origin rpy="0.0 0.0 0.0" xyz="0.1396 0.0 0.0405"/>
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="-5.061454830783556" upper="5.061454830783556" velocity="6.981317007977318"/>
<dynamics damping="0.08" friction="0.0"/>
</joint>
<joint name="robr_joint_6" type="revolute">
<parent link="robr_link_5"/>
<child link="robr_link_6"/>
<origin rpy="0.0 0.0 0.0" xyz="0.1254 0.0 -0.027"/>
<axis xyz="0 1 0"/>
<limit effort="1.0" lower="-1.53588974175501" upper="2.356194490192345" velocity="6.981317007977318"/>
<dynamics damping="0.08" friction="0.0"/>
</joint>
<joint name="robr_joint_7" type="revolute">
<parent link="robr_link_6"/>
<child link="robr_link_7"/>
<origin rpy="0.0 0.0 0.0" xyz="0.036 0.0 0.027"/>
<axis xyz="1 0 0"/>
<limit effort="1.0" lower="-3.9968039870670147" upper="3.9968039870670147" velocity="6.981317007977318"/>
<dynamics damping="0.039" friction="0.0"/>
</joint>
<joint name="robr_joint_7_flange" type="fixed">
<parent link="robr_link_7"/>
<child link="robr_flange"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<joint name="robr_flange_tool0" type="fixed">
<parent link="robr_flange"/>
<child link="robr_tool0"/>
<origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<transmission name="robr_transmission_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robr_joint_1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robr_joint_1_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robr_transmission_2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robr_joint_2">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robr_joint_2_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robr_transmission_3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robr_joint_3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robr_joint_3_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robr_transmission_4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robr_joint_4">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robr_joint_4_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robr_transmission_5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robr_joint_5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robr_joint_5_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robr_transmission_6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robr_joint_6">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robr_joint_6_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<transmission name="robr_transmission_7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="robr_joint_7">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="robr_joint_7_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="robr_base_joint">
<preserveFixedJoint>True</preserveFixedJoint>
</gazebo>
<gazebo reference="robr_link_1">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_link_2">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_link_3">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_link_4">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_link_5">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_link_6">
<material>Gazebo/Grey</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_link_7">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1000.0"/>
<fdir1 value="1 0 0"/>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_flange">
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_tool0">
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_flange_tool0">
<preserveFixedJoint>True</preserveFixedJoint>
</gazebo>
<gazebo>
<plugin filename="libabb_gazebo_libegm.so" name="gazebo_robr">
<controller_rate>250.0</controller_rate>
<base_link>robr_base_link</base_link>
<end_effector_link>robr_tool0</end_effector_link>
<egm_server_ip>127.0.0.1</egm_server_ip>
<egm_server_port>6512</egm_server_port>
<joint name="robr_joint_1" position="0.0"/>
<joint name="robr_joint_2" position="-2.2689280275926285"/>
<external_joint name="robr_joint_3" position="-2.356194490192345"/>
<joint name="robr_joint_4" position="0.5235987755982988"/>
<joint name="robr_joint_5" position="0.0"/>
<joint name="robr_joint_6" position="0.6981317007977318"/>
<joint name="robr_joint_7" position="0.0"/>
</plugin>
</gazebo>
<!-- - - - Grippers - - - -->
<link name="robl_sg_base_link">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/base_link.dae"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/base_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.0002 -0.007 0.0426"/>
<mass value="0.35"/>
<inertia ixx="8.73e-05" ixy="-2e-07" ixz="-4e-07" iyy="9.11e-05" iyz="-8.7e-06" izz="2.33e-05"/>
</inertial>
</link>
<link name="robl_sg_vacuum_1_frame_link">
</link>
<link name="robl_sg_vacuum_2_frame_link">
</link>
<link name="robl_sg_camera_frame_link">
</link>
<joint name="robl_sg_vacuum_1_frame_joint" type="fixed">
<parent link="robl_sg_base_link"/>
<child link="robl_sg_vacuum_1_frame_link"/>
<origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0274 0.0185 0.0375"/>
</joint>
<joint name="robl_sg_vacuum_2_frame_joint" type="fixed">
<parent link="robl_sg_base_link"/>
<child link="robl_sg_vacuum_2_frame_link"/>
<origin rpy="-3.141592653589793 1.5707963267948966 0.0" xyz="-0.0274 0.0185 0.0375"/>
</joint>
<joint name="robl_sg_camera_frame_joint" type="fixed">
<parent link="robl_sg_base_link"/>
<child link="robl_sg_camera_frame_link"/>
<origin rpy="-1.5707963267948966 1.5707963267948966 0.0" xyz="-0.0073 0.0283 0.0351"/>
</joint>
<gazebo reference="robl_sg_base_link">
<material>Gazebo/White</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<link name="robl_sg_servo_frame_link">
</link>
<link name="robl_sg_fingers_frame_link">
</link>
<link name="robl_sg_finger_1_base_link">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.00139 -0.014982"/>
<mass value="0.05"/>
<inertia ixx="3.08333333e-06" ixy="0.0" ixz="0.0" iyy="6.56666667e-06" iyz="0.0" izz="4.01666667e-06"/>
</inertial>
</link>
<link name="robl_sg_finger_2_base_link">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.00139 -0.014982"/>
<mass value="0.05"/>
<inertia ixx="3.08333333e-06" ixy="0.0" ixz="0.0" iyy="6.56666667e-06" iyz="0.0" izz="4.01666667e-06"/>
</inertial>
</link>
<link name="robl_sg_finger_1_link">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/finger_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/finger_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.011259 -0.004784 0.017852"/>
<mass value="0.01"/>
<inertia ixx="3.55e-06" ixy="-4.5e-07" ixz="1.68e-06" iyy="4.53e-06" iyz="6.8e-07" izz="1.54e-06"/>
</inertial>
</link>
<link name="robl_sg_finger_2_link">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/finger_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/finger_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.011259 -0.004784 0.017852"/>
<mass value="0.01"/>
<inertia ixx="3.55e-06" ixy="-4.5e-07" ixz="1.68e-06" iyy="4.53e-06" iyz="6.8e-07" izz="1.54e-06"/>
</inertial>
</link>
<joint name="robl_sg_servo_frame_joint" type="fixed">
<parent link="robl_sg_base_link"/>
<child link="robl_sg_servo_frame_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.084"/>
</joint>
<joint name="robl_sg_fingers_frame_joint" type="fixed">
<parent link="robl_sg_base_link"/>
<child link="robl_sg_fingers_frame_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1142"/>
</joint>
<joint name="robl_sg_finger_1_base_joint" type="fixed">
<parent link="robl_sg_base_link"/>
<child link="robl_sg_finger_1_base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.0125 0.0065 0.084"/>
</joint>
<joint name="robl_sg_finger_2_base_joint" type="fixed">
<parent link="robl_sg_base_link"/>
<child link="robl_sg_finger_2_base_link"/>
<origin rpy="0.0 0.0 3.141592653589793" xyz="0.0125 -0.0065 0.084"/>
</joint>
<joint name="robl_sg_finger_1_joint" type="fixed">
<parent link="robl_sg_finger_1_base_link"/>
<child link="robl_sg_finger_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<joint name="robl_sg_finger_2_joint" type="fixed">
<parent link="robl_sg_finger_2_base_link"/>
<child link="robl_sg_finger_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<gazebo reference="robl_sg_finger_1_base_link">
<material>Gazebo/White</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_sg_finger_2_base_link">
<material>Gazebo/White</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_sg_finger_1_link">
<material>Gazebo/Grey</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robl_sg_finger_2_link">
<material>Gazebo/Grey</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<joint name="robl_sg_joint" type="fixed">
<parent link="robl_link_7"/>
<child link="robl_sg_base_link"/>
<origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<link name="robr_sg_base_link">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/base_link.dae"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/base_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="-0.0002 -0.007 0.0426"/>
<mass value="0.35"/>
<inertia ixx="8.73e-05" ixy="-2e-07" ixz="-4e-07" iyy="9.11e-05" iyz="-8.7e-06" izz="2.33e-05"/>
</inertial>
</link>
<link name="robr_sg_vacuum_1_frame_link">
</link>
<link name="robr_sg_vacuum_2_frame_link">
</link>
<link name="robr_sg_camera_frame_link">
</link>
<joint name="robr_sg_vacuum_1_frame_joint" type="fixed">
<parent link="robr_sg_base_link"/>
<child link="robr_sg_vacuum_1_frame_link"/>
<origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0274 0.0185 0.0375"/>
</joint>
<joint name="robr_sg_vacuum_2_frame_joint" type="fixed">
<parent link="robr_sg_base_link"/>
<child link="robr_sg_vacuum_2_frame_link"/>
<origin rpy="-3.141592653589793 1.5707963267948966 0.0" xyz="-0.0274 0.0185 0.0375"/>
</joint>
<joint name="robr_sg_camera_frame_joint" type="fixed">
<parent link="robr_sg_base_link"/>
<child link="robr_sg_camera_frame_link"/>
<origin rpy="-1.5707963267948966 1.5707963267948966 0.0" xyz="-0.0073 0.0283 0.0351"/>
</joint>
<gazebo reference="robr_sg_base_link">
<material>Gazebo/White</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<link name="robr_sg_servo_frame_link">
</link>
<link name="robr_sg_fingers_frame_link">
</link>
<link name="robr_sg_finger_1_base_link">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.00139 -0.014982"/>
<mass value="0.05"/>
<inertia ixx="3.08333333e-06" ixy="0.0" ixz="0.0" iyy="6.56666667e-06" iyz="0.0" izz="4.01666667e-06"/>
</inertial>
</link>
<link name="robr_sg_finger_2_base_link">
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.00139 -0.014982"/>
<mass value="0.05"/>
<inertia ixx="3.08333333e-06" ixy="0.0" ixz="0.0" iyy="6.56666667e-06" iyz="0.0" izz="4.01666667e-06"/>
</inertial>
</link>
<link name="robr_sg_finger_1_link">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/finger_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/finger_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.011259 -0.004784 0.017852"/>
<mass value="0.01"/>
<inertia ixx="3.55e-06" ixy="-4.5e-07" ixz="1.68e-06" iyy="4.53e-06" iyz="6.8e-07" izz="1.54e-06"/>
</inertial>
</link>
<link name="robr_sg_finger_2_link">
<visual>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/visual/finger_link.stl"/>
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///opt/ros/humble/share/abb_myumi_smart_gripper_description/meshes/sg/collision/finger_link.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0.0" xyz="0.011259 -0.004784 0.017852"/>
<mass value="0.01"/>
<inertia ixx="3.55e-06" ixy="-4.5e-07" ixz="1.68e-06" iyy="4.53e-06" iyz="6.8e-07" izz="1.54e-06"/>
</inertial>
</link>
<joint name="robr_sg_servo_frame_joint" type="fixed">
<parent link="robr_sg_base_link"/>
<child link="robr_sg_servo_frame_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.084"/>
</joint>
<joint name="robr_sg_fingers_frame_joint" type="fixed">
<parent link="robr_sg_base_link"/>
<child link="robr_sg_fingers_frame_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1142"/>
</joint>
<joint name="robr_sg_finger_1_base_joint" type="fixed">
<parent link="robr_sg_base_link"/>
<child link="robr_sg_finger_1_base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.0125 0.0065 0.084"/>
</joint>
<joint name="robr_sg_finger_2_base_joint" type="fixed">
<parent link="robr_sg_base_link"/>
<child link="robr_sg_finger_2_base_link"/>
<origin rpy="0.0 0.0 3.141592653589793" xyz="0.0125 -0.0065 0.084"/>
</joint>
<joint name="robr_sg_finger_1_joint" type="fixed">
<parent link="robr_sg_finger_1_base_link"/>
<child link="robr_sg_finger_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<joint name="robr_sg_finger_2_joint" type="fixed">
<parent link="robr_sg_finger_2_base_link"/>
<child link="robr_sg_finger_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<gazebo reference="robr_sg_finger_1_base_link">
<material>Gazebo/White</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_sg_finger_2_base_link">
<material>Gazebo/White</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_sg_finger_1_link">
<material>Gazebo/Grey</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<gazebo reference="robr_sg_finger_2_link">
<material>Gazebo/Grey</material>
<turnGravityOff>True</turnGravityOff>
</gazebo>
<joint name="robr_sg_joint" type="fixed">
<parent link="robr_link_7"/>
<child link="robr_sg_base_link"/>
<origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.0"/>
</joint>
</robot>
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