<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from anymal.urdf.xacro              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal Bedi robot. -->
<robot name="kinova"
    xmlns:xacro="http://www.ros.org/wiki/xacro">
    <material name="black">
        <color rgba="0.0 0.0 0.0 1.0"/>
    </material>
    <material name="blue">
        <color rgba="0.0 0.0 0.8 1.0"/>
    </material>
    <material name="green">
        <color rgba="0.0 0.8 0.0 1.0"/>
    </material>
    <material name="grey">
        <color rgba="0.2 0.2 0.2 1.0"/>
    </material>
    <material name="light_grey">
        <color rgba="0.4 0.4 0.4 1.0"/>
    </material>
    <material name="orange">
        <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
    </material>
    <material name="brown">
        <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
    </material>
    <material name="red">
        <color rgba="0.8 0.0 0.0 1.0"/>
    </material>
    <material name="white">
        <color rgba="1.0 1.0 1.0 1.0"/>
    </material>
    <!-- Xacro:Properties -->
    <!-- [m] -->
    <!-- Base link -->
    <link name="base">
      <inertial>
        <mass value="0.0"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
      </inertial>
    </link>

    <link name="j2s6s200_link_base">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/base.dae"/>
            </geometry>
            <material name="carbon_fiber">
                <color rgba="0.3 0.3 0.3 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/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="jaco_mounting_block_to_j2s6s200_link_base" type="fixed">
        <parent link="base"/>
        <child link="j2s6s200_link_base"/>
        <axis xyz="0 0 0"/>
        <limit effort="0" lower="0" upper="0" velocity="0"/>
        <origin rpy="0 0 1.57079632679" xyz="0.000 0.000 0.000"/>
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <link name="j2s6s200_link_1">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/shoulder.dae"/>
            </geometry>
            <material name="carbon_fiber">
                <color rgba="0.3 0.3 0.3 1"/>
            </material>
        </visual>
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/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="j2s6s200_joint_1" type="continuous">
        <parent link="j2s6s200_link_base"/>
        <child link="j2s6s200_link_1"/>
        <axis xyz="0 0 1"/>
        <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="0.628318530718"/>
        <origin rpy="0 3.14159265359 0" xyz="0 0 0.15675"/>
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <transmission name="j2s6s200_joint_1_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_1_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>160</mechanicalReduction>
        </actuator>
    </transmission>
    <link name="j2s6s200_link_2">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/arm.dae"/>
            </geometry>
            <material name="carbon_fiber">
                <color rgba="0.3 0.3 0.3 1"/>
            </material>
        </visual>
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/arm.dae"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.99"/>
            <origin xyz="0 -0.2065 -0.01"/>
            <inertia ixx="0.010502207991" ixy="0" ixz="0" iyy="0.000792" iyz="0" izz="0.010502207991"/>
        </inertial>
    </link>
    <joint name="j2s6s200_joint_2" type="revolute">
        <parent link="j2s6s200_link_1"/>
        <child link="j2s6s200_link_2"/>
        <axis xyz="0 0 1"/>
        <limit effort="80" lower="0.820304748437" upper="5.46288055874" velocity="0.628318530718"/>
        <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.0016 -0.11875"/>
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <transmission name="j2s6s200_joint_2_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_2_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>160</mechanicalReduction>
        </actuator>
    </transmission>
    <link name="j2s6s200_link_3">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/forearm.dae"/>
            </geometry>
            <material name="carbon_fiber">
                <color rgba="0.3 0.3 0.3 1"/>
            </material>
        </visual>
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_big.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/forearm.dae"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.6763"/>
            <origin xyz="0 0.081 -0.0086"/>
            <inertia ixx="0.00142022431908" ixy="0" ixz="0" iyy="0.000304335" iyz="0" izz="0.00142022431908"/>
        </inertial>
    </link>
    <joint name="j2s6s200_joint_3" type="revolute">
        <parent link="j2s6s200_link_2"/>
        <child link="j2s6s200_link_3"/>
        <axis xyz="0 0 1"/>
        <limit effort="40" lower="0.331612557879" upper="5.9515727493" velocity="0.628318530718"/>
        <origin rpy="0 3.14159265359 0" xyz="0 -0.410 0"/>
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <transmission name="j2s6s200_joint_3_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_3_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>160</mechanicalReduction>
        </actuator>
    </transmission>
    <link name="j2s6s200_link_4">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae"/>
            </geometry>
            <material name="carbon_fiber">
                <color rgba="0.3 0.3 0.3 1"/>
            </material>
        </visual>
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_1.dae"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.463"/>
            <origin xyz="0 0.0028848942 -0.0541932613"/>
            <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="0.0004321316048" iyz="0" izz="9.26e-05"/>
        </inertial>
    </link>
    <joint name="j2s6s200_joint_4" type="continuous">
        <parent link="j2s6s200_link_3"/>
        <child link="j2s6s200_link_4"/>
        <axis xyz="0 0 1"/>
        <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="0.837758040957"/>
        <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.2073 -0.0114"/>
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <transmission name="j2s6s200_joint_4_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_4">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_4_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>160</mechanicalReduction>
        </actuator>
    </transmission>
    <link name="j2s6s200_link_5">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae"/>
            </geometry>
            <material name="carbon_fiber">
                <color rgba="0.3 0.3 0.3 1"/>
            </material>
        </visual>
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/wrist_spherical_2.dae"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.463"/>
            <origin xyz="0 0.0497208855 -0.0028562765"/>
            <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="9.26e-05" iyz="0" izz="0.0004321316048"/>
        </inertial>
    </link>
    <joint name="j2s6s200_joint_5" type="revolute">
        <parent link="j2s6s200_link_4"/>
        <child link="j2s6s200_link_5"/>
        <axis xyz="0 0 1"/>
        <limit effort="20" lower="0.523598775598" upper="5.75958653158" velocity="0.837758040957"/>
        <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.10375"/>
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <transmission name="j2s6s200_joint_5_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_5">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_5_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>160</mechanicalReduction>
        </actuator>
    </transmission>
    <link name="j2s6s200_link_6">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/hand_2finger.dae"/>
            </geometry>
            <material name="carbon_fiber">
                <color rgba="0.3 0.3 0.3 1"/>
            </material>
        </visual>
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/ring_small.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/kinova_description/meshes/hand_2finger.dae"/>
            </geometry>
        </collision>
        <inertial>
            <mass value="0.99"/>
            <origin xyz="0 0 -0.06"/>
            <inertia ixx="0.0003453236187" ixy="0" ixz="0" iyy="0.0003453236187" iyz="0" izz="0.0005816"/>
        </inertial>
    </link>
    <joint name="j2s6s200_joint_6" type="continuous">
        <parent link="j2s6s200_link_5"/>
        <child link="j2s6s200_link_6"/>
        <axis xyz="0 0 1"/>
        <limit effort="20" lower="-6.28318530718" upper="6.28318530718" velocity="0.837758040957"/>
        <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.10375 0"/>
        <dynamics damping="0.0" friction="0.0"/>
    </joint>
    <transmission name="j2s6s200_joint_6_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_6">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_6_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>160</mechanicalReduction>
        </actuator>
    </transmission>
    <link name="j2s6s200_end_effector">
      <inertial>
        <mass value="0.0"/>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
      </inertial>
    </link>
    <joint name="j2s6s200_joint_end_effector" type="fixed">
        <parent link="j2s6s200_link_6"/>
        <child link="j2s6s200_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"/> -->
        <origin rpy="3.14159265359 1.57079632679 0" xyz="0 0 -0.1600"/>
    </joint>
    <link name="j2s6s200_link_finger_1">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/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://example-robot-data/robots/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="j2s6s200_joint_finger_1" type="fixed">
        <parent link="j2s6s200_link_6"/>
        <child link="j2s6s200_link_finger_1"/>
        <axis xyz="0 0 1"/>
        <origin rpy="-1.570796327 .649262481663582 1.57079632679490" xyz="-0.0025 0.03095 -0.11482"/>
        <limit effort="2" lower="0" upper="1.51" velocity="1"/>
    </joint>
    <transmission name="j2s6s200_joint_finger_1_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_finger_1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_finger_1_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <link name="j2s6s200_link_finger_tip_1">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/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://example-robot-data/robots/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="j2s6s200_joint_finger_tip_1" type="fixed">
        <parent link="j2s6s200_link_finger_1"/>
        <child link="j2s6s200_link_finger_tip_1"/>
        <axis xyz="0 0 1"/>
        <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
        <limit effort="2" lower="0" upper="2" velocity="1"/>
    </joint>
    <transmission name="j2s6s200_joint_finger_tip_1_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_finger_tip_1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_finger_tip_1_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <link name="j2s6s200_link_finger_2">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/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://example-robot-data/robots/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="j2s6s200_joint_finger_2" type="fixed">
        <parent link="j2s6s200_link_6"/>
        <child link="j2s6s200_link_finger_2"/>
        <axis xyz="0 0 1"/>
        <origin rpy="-1.570796327 .649262481663582 -1.57079632679490" xyz="-0.0025 -0.03095 -0.11482"/>
        <limit effort="2" lower="0" upper="1.51" velocity="1"/>
    </joint>
    <transmission name="j2s6s200_joint_finger_2_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_finger_2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_finger_2_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <link name="j2s6s200_link_finger_tip_2">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/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://example-robot-data/robots/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="j2s6s200_joint_finger_tip_2" type="fixed">
        <parent link="j2s6s200_link_finger_2"/>
        <child link="j2s6s200_link_finger_tip_2"/>
        <axis xyz="0 0 1"/>
        <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
        <limit effort="2" lower="0" upper="2" velocity="1"/>
    </joint>
    <transmission name="j2s6s200_joint_finger_tip_2_trans">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="j2s6s200_joint_finger_tip_2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="j2s6s200_joint_finger_tip_2_actuator">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
</robot>
