<commit_before><?xml version="1.0"?>


<root xmlns:xi="http://www.w3.org/2001/XInclude"
	xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
	xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
	xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
	xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
	xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
	xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
    xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
    xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
	xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find kinova_description)/urdf/jaco_common.xacro" />

  <property name="link_base" value="mico_link_base" />
  <property name="link_1" value="mico_link_1" />
  <property name="link_2" value="mico_link_2" />
  <property name="link_3" value="mico_link_3" />
  <property name="link_4" value="mico_link_4" />
  <property name="link_5" value="mico_link_5" />
  <property name="link_hand" value="mico_link_hand" />
  <property name="link_finger_1" value="finger_proximal_limb_1" /> <!-- proximal limb finger 1-->
  <property name="link_finger_2" value="finger_proximal_limb_2" /> <!-- proximal limb finger 2-->
  <property name="link_finger_3" value="mico_link_finger_3" />
  <property name="link_finger_tip_1" value="finger_distal_limb_1" /> <!-- distal limb finger 1 -->
  <property name="link_finger_tip_2" value="finger_distal_limb_2" /> <!-- distal limb finger 2 -->

  <property name="api_offset" value="0.028" />
  <property name="api_origin" value="mico_api_origin" />

  <property name="joint_base" value="mico_joint_base" />
  <property name="joint_base_axis_xyz" value="0 0 0" />
  <property name="joint_base_origin_xyz" value="0 0 0" />
  <property name="joint_base_origin_rpy" value="0 0 0" />

  <property name="joint_1" value="mico_joint_1" />
  <property name="joint_1_axis_xyz" value="0 0 -1" />
  <property name="joint_1_origin_xyz" value="0 0 0.1535" />
  <property name="joint_1_origin_rpy" value="${J_PI} 0 ${J_PI}" />
  <property name="joint_1_lower_limit" value="${-2*J_PI}" />
  <property name="joint_1_upper_limit" value="${2*J_PI}" />

  <property name="joint_2" value="mico_joint_2" />
  <property name="joint_2_axis_xyz" value="0 0 1" />
  <property name="joint_2_origin_xyz" value="0 0 -0.1185" />
  <property name="joint_2_origin_rpy" value="-${J_PI/2} ${J_PI} 0" />
  <property name="joint_2_lower_limit" value="${-J_PI}" />
  <property name="joint_2_upper_limit" value="${0}" />

  <property name="joint_3" value="mico_joint_3" />
  <property name="joint_3_axis_xyz" value="0 0 -1" />
  <property name="joint_3_origin_xyz" value="0.29 0 0" />
  <property name="joint_3_origin_rpy" value="${J_PI} 0 ${J_PI/2}" />
  <property name="joint_3_lower_limit" value="${-5*J_PI/4}" />
  <property name="joint_3_upper_limit" value="${1*J_PI/4}" />

  <property name="joint_4" value="mico_joint_4" />
  <property name="joint_4_axis_xyz" value="0 0 -1" />
  <property name="joint_4_origin_xyz" value="0.123 0 -0.00845" />
  <property name="joint_4_origin_rpy" value="${J_PI} ${J_PI/2} 0" />
  <property name="joint_4_lower_limit" value="${-2*J_PI}" />
  <property name="joint_4_upper_limit" value="${2*J_PI}" />

  <property name="joint_5" value="mico_joint_5" />
  <property name="joint_5_axis_xyz" value="0 0 -1" />
  <property name="joint_5_origin_xyz" value="0.03700 0 -0.06408" />
  <property name="joint_5_origin_rpy" value="0 -${J_PI/180*60} 0" />
  <property name="joint_5_lower_limit" value="${-2*J_PI}" />
  <property name="joint_5_upper_limit" value="${2*J_PI}" />

  <property name="joint_6" value="mico_joint_6" />
  <property name="joint_6_axis_xyz" value="0 0 -1" />
  <property name="joint_6_origin_xyz" value="0.03700 0 -0.06408" />
  <property name="joint_6_origin_rpy" value="-${J_PI/180*60} 0 ${J_PI/2}" />
  <property name="joint_6_lower_limit" value="${-2*J_PI}" />
  <property name="joint_6_upper_limit" value="${2*J_PI}" />

  <property name="joint_finger_1" value="mico_joint_finger_1" />
  <property name="joint_finger_1_axis_xyz" value="0 0 1" />
  <property name="joint_finger_1_origin_xyz" value="-0.03095 -0.0025 -0.116" />
  <property name="joint_finger_1_origin_rpy" value="${J_PI/2} ${J_PI/2} 0" />
  <property name="joint_finger_1_lower_limit" value="0" />
  <property name="joint_finger_1_upper_limit" value="${J_PI/180*60}" />

  <property name="joint_finger_tip_1" value="mico_joint_finger_tip_1" />
  <property name="joint_finger_tip_1_axis_xyz" value="0 0 1" />
  <property name="joint_finger_tip_1_origin_xyz" value="0.035 -0.02595 -0.0025" />
  <property name="joint_finger_tip_1_origin_rpy" value="0 0 0" />
  <property name="joint_finger_tip_1_lower_limit" value="0" />
  <property name="joint_finger_tip_1_upper_limit" value="${J_PI/180*40}" /><commit_msg>Correct mico URDF to use the new kinova_msgs::JointAngles<commit_after><?xml version="1.0"?>


<root xmlns:xi="http://www.w3.org/2001/XInclude"
	xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
    xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
	xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
	xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
    xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
    xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
	xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
	xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
	xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
    xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
    xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
	xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find kinova_description)/urdf/jaco_common.xacro" />

  <property name="link_base" value="mico_link_base" />
  <property name="link_1" value="mico_link_1" />
  <property name="link_2" value="mico_link_2" />
  <property name="link_3" value="mico_link_3" />
  <property name="link_4" value="mico_link_4" />
  <property name="link_5" value="mico_link_5" />
  <property name="link_hand" value="mico_link_hand" />
  <property name="link_finger_1" value="finger_proximal_limb_1" /> <!-- proximal limb finger 1-->
  <property name="link_finger_2" value="finger_proximal_limb_2" /> <!-- proximal limb finger 2-->
  <property name="link_finger_3" value="mico_link_finger_3" />
  <property name="link_finger_tip_1" value="finger_distal_limb_1" /> <!-- distal limb finger 1 -->
  <property name="link_finger_tip_2" value="finger_distal_limb_2" /> <!-- distal limb finger 2 -->

  <property name="api_offset" value="0.028" />
  <property name="api_origin" value="mico_api_origin" />

  <property name="joint_base" value="mico_joint_base" />
  <property name="joint_base_axis_xyz" value="0 0 0" />
  <property name="joint_base_origin_xyz" value="0 0 0" />
  <property name="joint_base_origin_rpy" value="0 0 0" />

  <property name="joint_1" value="mico_joint_1" />
  <property name="joint_1_axis_xyz" value="0 0 1" />
  <property name="joint_1_origin_xyz" value="0 0 0.1535" />
  <property name="joint_1_origin_rpy" value="${J_PI} 0 0" />
  <property name="joint_1_lower_limit" value="${-2*J_PI}" />
  <property name="joint_1_upper_limit" value="${2*J_PI}" />

  <property name="joint_2" value="mico_joint_2" />
  <property name="joint_2_axis_xyz" value="0 0 1" />
  <property name="joint_2_origin_xyz" value="0 0 -0.1185" />
  <property name="joint_2_origin_rpy" value="-${J_PI/2} -${J_PI/2} 0" />
  <property name="joint_2_lower_limit" value="${-J_PI}" />
  <property name="joint_2_upper_limit" value="${0}" />

  <property name="joint_3" value="mico_joint_3" />
  <property name="joint_3_axis_xyz" value="0 0 1" />
  <property name="joint_3_origin_xyz" value="0.29 0 0" />
  <property name="joint_3_origin_rpy" value="${J_PI} 0 ${J_PI}" />
  <property name="joint_3_lower_limit" value="${-5*J_PI/4}" />
  <property name="joint_3_upper_limit" value="${1*J_PI/4}" />

  <property name="joint_4" value="mico_joint_4" />
  <property name="joint_4_axis_xyz" value="0 0 1" />
  <property name="joint_4_origin_xyz" value="0.123 0 -0.00845" />
  <property name="joint_4_origin_rpy" value="0 -${J_PI/2} 0" />
  <property name="joint_4_lower_limit" value="${-2*J_PI}" />
  <property name="joint_4_upper_limit" value="${2*J_PI}" />

  <property name="joint_5" value="mico_joint_5" />
  <property name="joint_5_axis_xyz" value="0 0 1" />
  <property name="joint_5_origin_xyz" value="0.03700 0 -0.06408" />
  <property name="joint_5_origin_rpy" value="0 ${J_PI/180*60} ${J_PI}" />
  <property name="joint_5_lower_limit" value="${-2*J_PI}" />
  <property name="joint_5_upper_limit" value="${2*J_PI}" />

  <property name="joint_6" value="mico_joint_6" />
  <property name="joint_6_axis_xyz" value="0 0 1" />
  <property name="joint_6_origin_xyz" value="0.03700 0 -0.06408" />
  <property name="joint_6_origin_rpy" value="0 ${J_PI/3} ${J_PI}" />
  <property name="joint_6_lower_limit" value="${-2*J_PI}" />
  <property name="joint_6_upper_limit" value="${2*J_PI}" />

  <property name="joint_finger_1" value="mico_joint_finger_1" />
  <property name="joint_finger_1_axis_xyz" value="0 0 1" />
  <property name="joint_finger_1_origin_xyz" value="-0.03095 -0.0025 -0.116" />
  <property name="joint_finger_1_origin_rpy" value="${J_PI/2} ${J_PI/2} 0" />
  <property name="joint_finger_1_lower_limit" value="0" />
  <property name="joint_finger_1_upper_limit" value="${J_PI/180*60}" />

  <property name="joint_finger_tip_1" value="mico_joint_finger_tip_1" />
  <property name="joint_finger_tip_1_axis_xyz" value="0 0 1" />
  <property name="joint_finger_tip_1_origin_xyz" value="0.035 -0.02595 -0.0025" />
  <property name="joint_finger_tip_1_origin_rpy" value="0 0 0" />
  <property name="joint_finger_tip_1_lower_limit" value="0" />
  <property name="joint_finger_tip_1_upper_limit" value="${J_PI/180*40}" />
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{'dir': 'git-commits-cleaned', 'id': '2962947', 'n_tokens_mistral': 4375, 'n_tokens_neox': 4027, 'n_words': 581}