embodiments/dh_ag95/urdf.urdf

<?xml version="1.0" encoding="utf-8"?> <!-- This URDF was automatically created by SolidWorks to URDF
Exporter! Originally created by Stephen Brawner ([email protected])       Commit Version: 1.6.0-4-g7f85cfe
Build Version: 1.6.7995.38578      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="dh_ag95">
  <link name="base_link">
    <inertial>
      <origin xyz="7.64085021809358E-07 -1.96527640328181E-07 0.20952158524403" rpy="0 0 0" />
      <mass value="6.07476808361779" />
      <inertia ixx="0.0444552970443565" ixy="-1.31702773385877E-08" ixz="-2.45620740658933E-07"
        iyy="0.0181926837112827" iyz="-1.69369051528003E-07" izz="0.0357274601403235" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/base_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link name="r1">
    <inertial>
      <origin xyz="-2.45882405230935E-06 -3.29465041054577E-07 0.164278748238539" rpy="0 0 0" />
      <mass value="1.4911451291693" />
      <inertia ixx="0.00305995014022009" ixy="1.23264704380858E-07" ixz="4.84189868924744E-08"
        iyy="0.00378498860937097" iyz="-4.00260806599368E-08" izz="0.00212611420638739" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r1.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="r-j1" type="revolute">
    <origin xyz="0 -0.016 0.22" rpy="1.5708 0 0" />
    <parent link="base_link" />
    <child link="r1" />
    <axis xyz="0 0 1" />
    <limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
  </joint>
  <link name="r2">
    <inertial>
      <origin xyz="-1.73912983855717E-05 -0.0453022891900061 0.000758985811081109" rpy="0 0 0" />
      <mass value="2.70307080056574" />
      <inertia ixx="0.00985116104091467" ixy="-3.38766701448687E-06" ixz="-5.61641762497661E-10"
        iyy="0.00588775168674882" iyz="-9.30811796886939E-05" izz="0.00748059216406987" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r2.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="r-j2" type="revolute">
    <origin xyz="0 0 0.2075" rpy="-1.5708 0 -3.1416" />
    <parent link="r1" />
    <child link="r2" />
    <axis xyz="0 0 1" />
    <limit lower="-1.8325" upper="1.8325" effort="0" velocity="0" />
  </joint>
  <link name="r3">
    <inertial>
      <origin xyz="0.00781892927895886 0.000443169694662265 0.236718911091754" rpy="0 0 0" />
      <mass value="3.54660277070567" />
      <inertia ixx="0.0185269491158126" ixy="1.22803072043E-06" ixz="-0.000120248224529112"
        iyy="0.0186931698742112" iyz="1.68848256376357E-05" izz="0.00375206007609043" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r3.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="r-j3" type="revolute">
    <origin xyz="0 0 0" rpy="1.5708 0 0" />
    <parent link="r2" />
    <child link="r3" />
    <axis xyz="0 0 1" />
    <limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
  </joint>
  <link name="r4">
    <inertial>
      <origin xyz="0.00464860390905572 -0.0316068170756088 0.000433524702296156" rpy="0 0 0" />
      <mass value="1.4740751978085" />
      <inertia ixx="0.00379436123700012" ixy="0.000160580388960059" ixz="2.463775003913E-07"
        iyy="0.00225645609791798" iyz="7.77499812854555E-06" izz="0.00281220282723288" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r4.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="r-j4" type="revolute">
    <origin xyz="0.00040027 0 0.33028" rpy="-1.5708 0 0" />
    <parent link="r3" />
    <child link="r4" />
    <axis xyz="0 0 1" />
    <limit lower="-2.5307" upper="0.5235" effort="0" velocity="0" />
  </joint>
  <link name="r5">
    <inertial>
      <origin xyz="-2.41117716229255E-06 0.00407933088083326 0.183521132964771" rpy="0 0 0" />
      <mass value="2.28121145937996" />
      <inertia ixx="0.00549376131725597" ixy="1.63293925677592E-07" ixz="1.60661986212534E-07"
        iyy="0.00558037684698882" iyz="-0.000384345841898039" izz="0.00195950697428382" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r5.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r5.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="r-j5" type="revolute">
    <origin xyz="0 0 0" rpy="1.5708 0 0" />
    <parent link="r4" />
    <child link="r5" />
    <axis xyz="0 0 1" />
    <limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
  </joint>
  <link name="r6">
    <inertial>
      <origin xyz="-3.20485854715669E-07 -0.0871588885243756 0.0055418304220777" rpy="0 0 0" />
      <mass value="1.76792309993444" />
      <inertia ixx="0.00447235828112751" ixy="4.71470154551187E-08" ixz="1.19024726211431E-08"
        iyy="0.00158251986788253" iyz="-0.000773038350906083" izz="0.00428293497285685" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r6.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r6.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="r-j6" type="revolute">
    <origin xyz="0 0 0.23494" rpy="-1.5708 0 -3.1416" />
    <parent link="r5" />
    <child link="r6" />
    <axis xyz="0 0 1" />
    <limit lower="-1.8325" upper="1.8325" effort="0" velocity="0" />
  </joint>
  <link name="r7">
    <inertial>
      <origin xyz="2.69436515709653E-07 -3.01174900691481E-05 0.176617274894147" rpy="0 0 0" />
      <mass value="0.634983447813081" />
      <inertia ixx="0.000369700889597725" ixy="7.98244027199847E-20" ixz="3.00795932024965E-20"
        iyy="0.000370207332440143" iyz="4.29842702140539E-07" izz="0.000512144747874418" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r7.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/r7.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="r-j7" type="revolute">
    <origin xyz="0 0 0" rpy="1.5708 0 0" />
    <parent link="r6" />
    <child link="r7" />
    <axis xyz="0 0 1" />
    <limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
  </joint>
  <link name="l1">
    <inertial>
      <origin xyz="-2.45882405047748E-06 -3.29464987541828E-07 0.164278748238532" rpy="0 0 0" />
      <mass value="1.49114512916932" />
      <inertia ixx="0.00305995014022018" ixy="1.23264704383502E-07" ixz="4.84189867969247E-08"
        iyy="0.00378498860937113" iyz="-4.00260808091414E-08" izz="0.00212611420638742" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l1.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l-j1" type="revolute">
    <origin xyz="0 0.016 0.22" rpy="1.5708 0 -3.1416" />
    <parent link="base_link" />
    <child link="l1" />
    <axis xyz="0 0 1" />
    <limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
  </joint>
  <link name="l2">
    <inertial>
      <origin xyz="1.74240956271055E-05 -0.0453022741090805 -0.000759873712155773" rpy="0 0 0" />
      <mass value="2.70306833498583" />
      <inertia ixx="0.00985115974478498" ixy="3.38929946328778E-06" ixz="7.02637815742899E-10"
        iyy="0.00588774779064225" iyz="9.30817838600324E-05" izz="0.00748058795777288" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l2.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l-j2" type="revolute">
    <origin xyz="0 0 0.2075" rpy="-1.5708 0 0" />
    <parent link="l1" />
    <child link="l2" />
    <axis xyz="0 0 1" />
    <limit lower="-1.8325" upper="1.8325" effort="0" velocity="0" />
  </joint>
  <link name="l3">
    <inertial>
      <origin xyz="0.00701838224257123 0.000445384597281745 0.236718911084163" rpy="0 0 0" />
      <mass value="3.54660277017021" />
      <inertia ixx="0.0185269491147814" ixy="1.22803062163473E-06" ixz="-0.000120248225064981"
        iyy="0.0186931698736287" iyz="1.68848260564534E-05" izz="0.0037520600759143" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l3.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l-j3" type="revolute">
    <origin xyz="0 0 0" rpy="1.5708 0 0" />
    <parent link="l2" />
    <child link="l3" />
    <axis xyz="0 0 1" />
    <limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
  </joint>
  <link name="l4">
    <inertial>
      <origin xyz="0.00464860545503498 -0.031606800570405 0.000433536963443448" rpy="0 0 0" />
      <mass value="1.47407564170496" />
      <inertia ixx="0.00379436315877962" ixy="0.000160580379176352" ixz="2.46367423553941E-07"
        iyy="0.00225645703041677" iyz="7.77418840504163E-06" izz="0.00281220417778935" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l4.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l-j4" type="revolute">
    <origin xyz="-0.00040027 0 0.33028" rpy="-1.5708 0 0" />
    <parent link="l3" />
    <child link="l4" />
    <axis xyz="0 0 1" />
    <limit lower="-2.5307" upper="0.5235" effort="0" velocity="0" />
  </joint>
  <link name="l5">
    <inertial>
      <origin xyz="2.43096568794399E-06 -0.00407933089387785 0.183521133028236" rpy="0 0 0" />
      <mass value="2.28121146224532" />
      <inertia ixx="0.00549376132472019" ixy="1.63295392051663E-07" ixz="-1.60666859093446E-07"
        iyy="0.00558037685767306" iyz="0.000384345843703894" izz="0.0019595069767207" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l5.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l5.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l-j5" type="revolute">
    <origin xyz="0 0 0" rpy="1.5708 0 0" />
    <parent link="l4" />
    <child link="l5" />
    <axis xyz="0 0 1" />
    <limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
  </joint>
  <link name="l6">
    <inertial>
      <origin xyz="-3.20485791543978E-07 -0.0871588885252024 0.00553927259501111" rpy="0 0 0" />
      <mass value="1.76792309991608" />
      <inertia ixx="0.00447235828100318" ixy="4.71470081986946E-08" ixz="1.19024742791782E-08"
        iyy="0.00158251986786073" iyz="-0.000773038350882278" izz="0.00428293497271528" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l6.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l6.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l-j6" type="revolute">
    <origin xyz="0 0 0.23494" rpy="-1.5708 0 0" />
    <parent link="l5" />
    <child link="l6" />
    <axis xyz="0 0 1" />
    <limit lower="-1.8325" upper="1.8325" effort="0" velocity="0" />
  </joint>
  <link name="l7">
    <inertial>
      <origin xyz="2.69436515210053E-07 -3.26753170756533E-05 0.176617274894147" rpy="0 0 0" />
      <mass value="0.63498344781308" />
      <inertia ixx="0.000369700889597725" ixy="3.27053047976352E-20" ixz="1.86652534700175E-20"
        iyy="0.000370207332440143" iyz="4.29842702140588E-07" izz="0.000512144747874417" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l7.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/l7.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l-j7" type="revolute">
    <origin xyz="0 0 0" rpy="1.5708 0 0" />
    <parent link="l6" />
    <child link="l7" />
    <axis xyz="0 0 1" />
    <limit lower="-3.1416" upper="3.1416" effort="0" velocity="0" />
  </joint>

  <!-- 左夹爪 -->
  <link name="l_gripper_base_link">
    <visual>
      <geometry>
        <mesh filename="meshes/gripper_base_link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/gripper_base_link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <mass value="0.83416" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="0.0013016" ixy="-6.9374e-07" ixz="5.9848e-07" iyx="0.000000" iyy="0.00049972"
        iyz="2.0244E-07" izx="0.000000" izy="0.000000" izz="0.001498" />
    </inertial>
  </link>
  <joint name="l-t" type="fixed">
    <origin xyz="0 0 0.203171979800598" rpy="0 0 0" />
    <parent link="l7" />
    <child link="l_gripper_base_link" />
    <axis xyz="0 0 0" />
  </joint>
  <joint name="l_gripper_finger1_joint" type="revolute">
    <parent link="l_gripper_base_link" />
    <child link="l_gripper_finger1_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0.0 0.0 3.14" xyz="-0.016 0 0.10586" />
    <limit lower="0.0" upper="0.6524" velocity="2.0" effort="1000" />
  </joint>
  <joint name="l_gripper_finger2_joint" type="revolute">
    <parent link="l_gripper_base_link" />
    <child link="l_gripper_finger2_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0.0 0.0 0.0" xyz="0.016  0 0.10586 " />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="1000" />
    <!-- <mimic joint="l_gripper_finger1_joint" /> -->
  </joint>
  <link name="l_gripper_finger1_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="meshes/crank_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/crank_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.011111" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="3.88172e-06" ixy="-2.29456e-13" ixz="8.33e-07" iyx="0.000000" iyy="1.92174e-06"
        iyz="2.04435e-13" izx="0.000000" izy="0.000000" izz="4.32374e-06" />
    </inertial>
  </link>
  <link name="l_gripper_finger2_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="meshes/crank_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/crank_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.011111" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="3.88172e-06" ixy="-2.29456e-13" ixz="8.33e-07" iyx="0.000000" iyy="1.92174e-06"
        iyz="2.04435e-13" izx="0.000000" izy="0.000000" izz="4.32374e-06" />
    </inertial>
  </link>
  <link name="l_gripper_finger1_finger_link">
    <visual>
      <geometry>
        <mesh filename="meshes/rod_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/rod_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.0222871" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="8.72836e-06" ixy="7.0843e-15" ixz="-2.18833e-06" iyx="-0.000002"
        iyy="7.26157e-06" iyz="7.6579e-15" izx="0.000000" izy="0.000000" izz="3.3425e-06" />
    </inertial>
  </link>
  <joint name="l_gripper_finger1_finger_joint" type="revolute">
    <parent link="l_gripper_finger1_knuckle_link" />
    <child link="l_gripper_finger1_finger_link" />
    <axis xyz="0 -1 0" />
    <origin xyz="0.0292080077784 0.0 -0.0227132622407" rpy="0 0 0" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="l_gripper_finger1_joint" multiplier="0.4563942" offset="0" /> -->
  </joint>
  <joint name="l_gripper_finger2_finger_joint" type="revolute">
    <parent link="l_gripper_finger2_knuckle_link" />
    <child link="l_gripper_finger2_finger_link" />
    <axis xyz="0 -1 0" />
    <origin xyz="0.0292080077784 0.0 -0.0227132622407" rpy="0 0 0" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="l_gripper_finger1_joint" multiplier="0.4563942" offset="0" /> -->
  </joint>
  <link name="l_gripper_finger2_finger_link">
    <visual>
      <geometry>
        <mesh filename="meshes/rod_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/rod_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.0222871" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="8.72836e-06" ixy="7.0843e-15" ixz="-2.18833e-06" iyx="-0.000002"
        iyy="7.26157e-06" iyz="7.6579e-15" izx="0.000000" izy="0.000000" izz="3.3425e-06" />
    </inertial>
  </link> 
  <joint name="l_gripper_finger1_inner_knuckle_joint" type="revolute">
    <parent link="l_gripper_base_link" />
    <child link="l_gripper_finger1_inner_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0.0 0.0 3.14" xyz="-0.016 0 0.10586" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="l_gripper_finger1_joint" multiplier="1.49462955" offset="0" /> -->
  </joint>
  <joint name="l_gripper_finger2_inner_knuckle_joint" type="revolute">
    <parent link="l_gripper_base_link" />
    <child link="l_gripper_finger2_inner_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0.0 0.0 0.0" xyz="0.016 0 0.10586" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="l_gripper_finger1_joint" multiplier="1.49462955" offset="0" /> -->
  </joint>
  <link name="l_gripper_finger1_inner_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="meshes/proximal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/proximal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.0318004" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="1.39848e-05" ixy="-9.54763e-15" ixz="-5.01422e-06" iyx="0.000000"
        iyy="1.04943e-05" iyz="8.94585e-16" izx="0.000000" izy="0.000000" izz="1.36183e-05" />
    </inertial>
  </link>
  <link name="l_gripper_finger2_inner_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="meshes/proximal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/proximal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.0318004" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="1.39848e-05" ixy="-9.54763e-15" ixz="-5.01422e-06" iyx="0.000000"
        iyy="1.04943e-05" iyz="8.94585e-16" izx="0.000000" izy="0.000000" izz="1.36183e-05" />
    </inertial>
  </link>
  <joint name="l_gripper_finger1_finger_tip_joint" type="revolute">
    <parent link="l_gripper_finger1_inner_knuckle_link" />
    <child link="l_gripper_finger1_finger_tip_link" />
    <axis xyz="0 1 0" />
    <origin xyz="0.0394969463769 0.0 0.0382752038125 " rpy="0.0 0.0 0.0" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="l_gripper_finger1_joint" multiplier="1.49462955" /> -->
  </joint>
  <joint name="l_gripper_finger2_finger_tip_joint" type="revolute">
    <parent link="l_gripper_finger2_inner_knuckle_link" />
    <child link="l_gripper_finger2_finger_tip_link" />
    <axis xyz="0 1 0" />
    <origin rpy="0.0 0.0 0.0" xyz="0.0394969463769  0.0 0.0382752038125  " />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="l_gripper_finger1_joint" multiplier="1.49462955" /> -->
  </joint>
  <link name="l_gripper_finger1_finger_tip_link">
    <visual>
      <geometry>
        <mesh filename="meshes/distal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/distal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0124305" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="2.84217e-06" ixy="-2.48048e-15" ixz="8.24539e-07" iyx="0.000000"
        iyy="3.03961e-06" iyz="2.16427e-13" izx="0.000000" izy="0.000000" izz="1.11815e-06" />
    </inertial>
  </link>
  <link name="l_gripper_finger2_finger_tip_link">
    <visual>
      <geometry>
        <mesh filename="meshes/distal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/distal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0124305" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="2.84217e-06" ixy="-2.48048e-15" ixz="8.24539e-07" iyx="0.000000"
        iyy="3.03961e-06" iyz="2.16427e-13" izx="0.000000" izy="0.000000" izz="1.11815e-06" />
    </inertial>
  </link>
  <!-- <transmission name="l_gripper_finger1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="l_gripper_finger1_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="l_gripper_finger1_motor">
      <mechanicalReduction>1</mechanicalReduction>
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </actuator>
  </transmission> -->
  
  <!-- 右夹爪 -->
  <link name="r_gripper_base_link">
    <visual>
      <geometry>
        <mesh filename="meshes/gripper_base_link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/gripper_base_link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <mass value="0.83416" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="0.0013016" ixy="-6.9374e-07" ixz="5.9848e-07" iyx="0.000000" iyy="0.00049972"
        iyz="2.0244E-07" izx="0.000000" izy="0.000000" izz="0.001498" />
    </inertial>
  </link>
  <joint name="r-t" type="fixed">
    <origin xyz="0 0 0.20317" rpy="0 0 0" />
    <parent link="r7" />
    <child link="r_gripper_base_link" />
    <axis xyz="0 0 0" />
  </joint>
  <joint name="r_gripper_finger1_joint" type="revolute">
    <parent link="r_gripper_base_link" />
    <child link="r_gripper_finger1_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0.0 0.0 3.14" xyz="-0.016 0 0.10586" />
    <limit lower="0.0" upper="0.6524" velocity="2.0" effort="1000" />
  </joint>
  <joint name="r_gripper_finger2_joint" type="revolute">
    <parent link="r_gripper_base_link" />
    <child link="r_gripper_finger2_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0.0 0.0 0.0" xyz="0.016  0 0.10586 " />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="1000" />
    <!-- <mimic joint="r_gripper_finger1_joint" /> -->
  </joint>
  <link name="r_gripper_finger1_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="meshes/crank_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/crank_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.011111" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="3.88172e-06" ixy="-2.29456e-13" ixz="8.33e-07" iyx="0.000000" iyy="1.92174e-06"
        iyz="2.04435e-13" izx="0.000000" izy="0.000000" izz="4.32374e-06" />
    </inertial>
  </link>
  <link name="r_gripper_finger2_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="meshes/crank_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/crank_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.011111" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="3.88172e-06" ixy="-2.29456e-13" ixz="8.33e-07" iyx="0.000000" iyy="1.92174e-06"
        iyz="2.04435e-13" izx="0.000000" izy="0.000000" izz="4.32374e-06" />
    </inertial>
  </link>
  <joint name="r_gripper_finger1_finger_joint" type="revolute">
    <parent link="r_gripper_finger1_knuckle_link" />
    <child link="r_gripper_finger1_finger_link" />
    <axis xyz="0 -1 0" />
    <origin xyz="0.0292080077784 0.0 -0.0227132622407" rpy="0 0 0" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="r_gripper_finger1_joint" multiplier="0.4563942" offset="0" /> -->
  </joint>
  <joint name="r_gripper_finger2_finger_joint" type="revolute">
    <parent link="r_gripper_finger2_knuckle_link" />
    <child link="r_gripper_finger2_finger_link" />
    <axis xyz="0 -1 0" />
    <origin xyz="0.0292080077784 0.0 -0.0227132622407" rpy="0 0 0" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="r_gripper_finger1_joint" multiplier="0.4563942" offset="0" /> -->
  </joint>
  <link name="r_gripper_finger1_finger_link">
    <visual>
      <geometry>
        <mesh filename="meshes/rod_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/rod_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.0222871" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="8.72836e-06" ixy="7.0843e-15" ixz="-2.18833e-06" iyx="-0.000002"
        iyy="7.26157e-06" iyz="7.6579e-15" izx="0.000000" izy="0.000000" izz="3.3425e-06" />
    </inertial>
  </link>
  <link name="r_gripper_finger2_finger_link">
    <visual>
      <geometry>
        <mesh filename="meshes/rod_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/rod_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.0222871" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="8.72836e-06" ixy="7.0843e-15" ixz="-2.18833e-06" iyx="-0.000002"
        iyy="7.26157e-06" iyz="7.6579e-15" izx="0.000000" izy="0.000000" izz="3.3425e-06" />
    </inertial>
  </link>
  <joint name="r_gripper_finger1_inner_knuckle_joint" type="revolute">
    <parent link="r_gripper_base_link" />
    <child link="r_gripper_finger1_inner_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0.0 0.0 3.14" xyz="-0.016 0 0.10586" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="r_gripper_finger1_joint" multiplier="1.49462955" offset="0" /> -->
  </joint>
  <joint name="r_gripper_finger2_inner_knuckle_joint" type="revolute">
    <parent link="r_gripper_base_link" />
    <child link="r_gripper_finger2_inner_knuckle_link" />
    <axis xyz="0 -1 0" />
    <origin rpy="0.0 0.0 0.0" xyz="0.016 0 0.10586" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="r_gripper_finger1_joint" multiplier="1.49462955" offset="0" /> -->
  </joint>
  <link name="r_gripper_finger1_inner_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="meshes/proximal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/proximal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.0318004" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="1.39848e-05" ixy="-9.54763e-15" ixz="-5.01422e-06" iyx="0.000000"
        iyy="1.04943e-05" iyz="8.94585e-16" izx="0.000000" izy="0.000000" izz="1.36183e-05" />
    </inertial>
  </link>
  <link name="r_gripper_finger2_inner_knuckle_link">
    <visual>
      <geometry>
        <mesh filename="meshes/proximal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <mesh filename="meshes/proximal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision> -->
    <inertial>
      <mass value="0.0318004" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="1.39848e-05" ixy="-9.54763e-15" ixz="-5.01422e-06" iyx="0.000000"
        iyy="1.04943e-05" iyz="8.94585e-16" izx="0.000000" izy="0.000000" izz="1.36183e-05" />
    </inertial>
  </link>
  <joint name="r_gripper_finger1_finger_tip_joint" type="revolute">
    <parent link="r_gripper_finger1_inner_knuckle_link" />
    <child link="r_gripper_finger1_finger_tip_link" />
    <axis xyz="0 1 0" />
    <origin xyz="0.0394969463769 0.0 0.0382752038125 " rpy="0.0 0.0 0.0" />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="r_gripper_finger1_joint" multiplier="1.49462955" /> -->
  </joint>
  <joint name="r_gripper_finger2_finger_tip_joint" type="revolute">
    <parent link="r_gripper_finger2_inner_knuckle_link" />
    <child link="r_gripper_finger2_finger_tip_link" />
    <axis xyz="0 1 0" />
    <origin rpy="0.0 0.0 0.0" xyz="0.0394969463769  0.0 0.0382752038125  " />
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1" />
    <!-- <mimic joint="r_gripper_finger1_joint" multiplier="1.49462955" /> -->
  </joint>
  <link name="r_gripper_finger1_finger_tip_link">
    <visual>
      <geometry>
        <mesh filename="meshes/distal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/distal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0124305" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="2.84217e-06" ixy="-2.48048e-15" ixz="8.24539e-07" iyx="0.000000"
        iyy="3.03961e-06" iyz="2.16427e-13" izx="0.000000" izy="0.000000" izz="1.11815e-06" />
    </inertial>
  </link>
  <link name="r_gripper_finger2_finger_tip_link">
    <visual>
      <geometry>
        <mesh filename="meshes/distal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/distal_phalanx_Link.STL" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0124305" />
      <origin xyz="0.0 0.0 0.0" />
      <inertia ixx="2.84217e-06" ixy="-2.48048e-15" ixz="8.24539e-07" iyx="0.000000"
        iyy="3.03961e-06" iyz="2.16427e-13" izx="0.000000" izy="0.000000" izz="1.11815e-06" />
    </inertial>
  </link>
  <!-- <transmission name="r_gripper_finger1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="r_gripper_finger1_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="r_gripper_finger1_motor">
      <mechanicalReduction>1</mechanicalReduction>
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </actuator>
  </transmission> -->
</robot>