Datasets:

LucasNoh
/

pick_orange_cube

Tags:

Add files using upload-large-folder tool

87f06cc verified about 1 month ago

11 kB

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from omx_f.urdf.xacro               | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="omx_f">
  <link name="world"/>
  <joint name="world_fixed" type="fixed">
    <parent link="world"/>
    <child link="link0"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
  </joint>
  <joint name="end_effector_joint" type="fixed">
    <parent link="link5"/>
    <child link="end_effector_link"/>
    <origin rpy="0 0 0" xyz="0.09193 -0.0016 0"/>
  </joint>
  <link name="end_effector_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <link name="link0">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_01_base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_01_base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="-1.441250800e-02 -3.149887900e-03 1.927659900e-02"/>
      <mass value="2.238905100e-01"/>
      <inertia ixx="3.568046100e-04" ixy="-3.297178900e-06" ixz="1.907676700e-05" iyy="2.194193200e-04" iyz="1.407164200e-06" izz="4.557589900e-04"/>
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <parent link="link0"/>
    <child link="link1"/>
    <origin rpy="0 0 0" xyz="-0.01125 0 0.034"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_02_base_tilt_Revised.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_02_base_tilt_Revised.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="-6.223620500e-06 6.049232000e-04 4.741880300e-02"/>
      <mass value="6.598704100e-02"/>
      <inertia ixx="2.173166700e-05" ixy="-7.670221200e-09" ixz="6.604697700e-09" iyy="2.135151300e-05" iyz="-3.790671700e-07" izz="1.165795500e-05"/>
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin rpy="0 0 0" xyz="0 0 0.0635"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_03_middle_verticle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_03_middle_verticle.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="1.808991600e-02 2.977875800e-04 9.900545200e-02"/>
      <mass value="8.722147100e-02"/>
      <inertia ixx="1.030791500e-04" ixy="-9.237869700e-07" ixz="-2.259657800e-05" iyy="1.208632700e-04" iyz="-1.937414500e-06" izz="4.199367700e-05"/>
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <parent link="link2"/>
    <child link="link3"/>
    <origin rpy="0 0 0" xyz="0.0415 0 0.11315"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_04_middle_horizontal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_04_middle_horizontal.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="8.739860200e-02 4.131006500e-04 -3.582921000e-03"/>
      <mass value="8.375912900e-02"/>
      <inertia ixx="1.520310100e-05" ixy="-5.856958300e-07" ixz="-8.201398200e-06" iyy="2.260615800e-04" iyz="4.169928000e-07" izz="2.306688700e-04"/>
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <parent link="link3"/>
    <child link="link4"/>
    <origin rpy="0 0 0" xyz="0.162 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_05_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_05_tip.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="2.323498000e-02 6.773537800e-05 5.976131200e-03"/>
      <mass value="2.997506300e-02"/>
      <inertia ixx="5.099513000e-06" ixy="2.633166800e-08" ixz="-7.760319700e-07" iyy="7.099047100e-06" iyz="1.637967900e-09" izz="6.311949500e-06"/>
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <parent link="link4"/>
    <child link="link5"/>
    <origin rpy="0 0 0" xyz="0.0287 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_06_pan_Revised.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_06_pan_Revised.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="2.807240700e-02 2.413594100e-05 1.352891400e-02"/>
      <mass value="4.381088700e-02"/>
      <inertia ixx="2.369445900e-05" ixy="-2.614252600e-08" ixz="-2.939284100e-06" iyy="2.323692400e-05" iyz="7.543040500e-08" izz="7.180629100e-06"/>
    </inertial>
  </link>
  <joint name="gripper_joint_1" type="revolute">
    <parent link="link5"/>
    <child link="link6"/>
    <origin rpy="0 0 0" xyz="0.0295 0.0075 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_07_gripper_motorized.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_07_gripper_motorized.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="1.616456500e-02 1.273103200e-03 2.729159800e-04"/>
      <mass value="1.209067700e-02"/>
      <inertia ixx="2.708328700e-06" ixy="1.397245300e-07" ixz="5.888794300e-08" iyy="6.873372800e-06" iyz="1.537070800e-08" izz="4.694188100e-06"/>
    </inertial>
  </link>
  <joint name="gripper_joint_2" type="revolute">
    <parent link="link5"/>
    <child link="link7"/>
    <origin rpy="0 0 0" xyz="0.0295 -0.0108 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
    <mimic joint="gripper_joint_1" multiplier="-1"/>
  </joint>
  <link name="link7">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_08_gripper_gear.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omx_f/follower_08_gripper_gear.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </collision>
    <inertial>
      <origin xyz="1.616456500e-02 1.273103200e-03 2.729159800e-04"/>
      <mass value="1.209067700e-02"/>
      <inertia ixx="2.708328700e-06" ixy="1.397245300e-07" ixz="5.888794300e-08" iyy="6.873372800e-06" iyz="1.537070800e-08" izz="4.694188100e-06"/>
    </inertial>
  </link>
</robot>

	<?xml version="1.0" ?>
	<!-- =================================================================================== -->
	<!-- \| This document was autogenerated by xacro from omx_f.urdf.xacro \| -->
	<!-- \| EDITING THIS FILE BY HAND IS NOT RECOMMENDED \| -->
	<!-- =================================================================================== -->
	<robot name="omx_f">
	<link name="world"/>
	<joint name="world_fixed" type="fixed">
	<parent link="world"/>
	<child link="link0"/>
	<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
	</joint>
	<joint name="end_effector_joint" type="fixed">
	<parent link="link5"/>
	<child link="end_effector_link"/>
	<origin rpy="0 0 0" xyz="0.09193 -0.0016 0"/>
	</joint>
	<link name="end_effector_link">
	<visual>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<box size="0.01 0.01 0.01"/>
	</geometry>
	<material name="red">
	<color rgba="1.0 0.0 0.0 1"/>
	</material>
	</visual>
	</link>
	<link name="link0">
	<visual>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_01_base.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</visual>
	<collision>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_01_base.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</collision>
	<inertial>
	<origin xyz="-1.441250800e-02 -3.149887900e-03 1.927659900e-02"/>
	<mass value="2.238905100e-01"/>
	<inertia ixx="3.568046100e-04" ixy="-3.297178900e-06" ixz="1.907676700e-05" iyy="2.194193200e-04" iyz="1.407164200e-06" izz="4.557589900e-04"/>
	</inertial>
	</link>
	<joint name="joint1" type="revolute">
	<parent link="link0"/>
	<child link="link1"/>
	<origin rpy="0 0 0" xyz="-0.01125 0 0.034"/>
	<axis xyz="0 0 1"/>
	<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
	<dynamics damping="0.05"/>
	</joint>
	<link name="link1">
	<visual>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_02_base_tilt_Revised.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</visual>
	<collision>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_02_base_tilt_Revised.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</collision>
	<inertial>
	<origin xyz="-6.223620500e-06 6.049232000e-04 4.741880300e-02"/>
	<mass value="6.598704100e-02"/>
	<inertia ixx="2.173166700e-05" ixy="-7.670221200e-09" ixz="6.604697700e-09" iyy="2.135151300e-05" iyz="-3.790671700e-07" izz="1.165795500e-05"/>
	</inertial>
	</link>
	<joint name="joint2" type="revolute">
	<parent link="link1"/>
	<child link="link2"/>
	<origin rpy="0 0 0" xyz="0 0 0.0635"/>
	<axis xyz="0 1 0"/>
	<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
	<dynamics damping="0.1"/>
	</joint>
	<link name="link2">
	<visual>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_03_middle_verticle.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</visual>
	<collision>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_03_middle_verticle.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</collision>
	<inertial>
	<origin xyz="1.808991600e-02 2.977875800e-04 9.900545200e-02"/>
	<mass value="8.722147100e-02"/>
	<inertia ixx="1.030791500e-04" ixy="-9.237869700e-07" ixz="-2.259657800e-05" iyy="1.208632700e-04" iyz="-1.937414500e-06" izz="4.199367700e-05"/>
	</inertial>
	</link>
	<joint name="joint3" type="revolute">
	<parent link="link2"/>
	<child link="link3"/>
	<origin rpy="0 0 0" xyz="0.0415 0 0.11315"/>
	<axis xyz="0 1 0"/>
	<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
	<dynamics damping="0.1"/>
	</joint>
	<link name="link3">
	<visual>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_04_middle_horizontal.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</visual>
	<collision>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_04_middle_horizontal.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</collision>
	<inertial>
	<origin xyz="8.739860200e-02 4.131006500e-04 -3.582921000e-03"/>
	<mass value="8.375912900e-02"/>
	<inertia ixx="1.520310100e-05" ixy="-5.856958300e-07" ixz="-8.201398200e-06" iyy="2.260615800e-04" iyz="4.169928000e-07" izz="2.306688700e-04"/>
	</inertial>
	</link>
	<joint name="joint4" type="revolute">
	<parent link="link3"/>
	<child link="link4"/>
	<origin rpy="0 0 0" xyz="0.162 0 0"/>
	<axis xyz="0 1 0"/>
	<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
	<dynamics damping="0.1"/>
	</joint>
	<link name="link4">
	<visual>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_05_tip.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</visual>
	<collision>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_05_tip.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</collision>
	<inertial>
	<origin xyz="2.323498000e-02 6.773537800e-05 5.976131200e-03"/>
	<mass value="2.997506300e-02"/>
	<inertia ixx="5.099513000e-06" ixy="2.633166800e-08" ixz="-7.760319700e-07" iyy="7.099047100e-06" iyz="1.637967900e-09" izz="6.311949500e-06"/>
	</inertial>
	</link>
	<joint name="joint5" type="revolute">
	<parent link="link4"/>
	<child link="link5"/>
	<origin rpy="0 0 0" xyz="0.0287 0 0"/>
	<axis xyz="1 0 0"/>
	<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
	<dynamics damping="0.1"/>
	</joint>
	<link name="link5">
	<visual>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_06_pan_Revised.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</visual>
	<collision>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_06_pan_Revised.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</collision>
	<inertial>
	<origin xyz="2.807240700e-02 2.413594100e-05 1.352891400e-02"/>
	<mass value="4.381088700e-02"/>
	<inertia ixx="2.369445900e-05" ixy="-2.614252600e-08" ixz="-2.939284100e-06" iyy="2.323692400e-05" iyz="7.543040500e-08" izz="7.180629100e-06"/>
	</inertial>
	</link>
	<joint name="gripper_joint_1" type="revolute">
	<parent link="link5"/>
	<child link="link6"/>
	<origin rpy="0 0 0" xyz="0.0295 0.0075 0"/>
	<axis xyz="0 0 1"/>
	<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
	<dynamics damping="0.1"/>
	</joint>
	<link name="link6">
	<visual>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_07_gripper_motorized.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</visual>
	<collision>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_07_gripper_motorized.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</collision>
	<inertial>
	<origin xyz="1.616456500e-02 1.273103200e-03 2.729159800e-04"/>
	<mass value="1.209067700e-02"/>
	<inertia ixx="2.708328700e-06" ixy="1.397245300e-07" ixz="5.888794300e-08" iyy="6.873372800e-06" iyz="1.537070800e-08" izz="4.694188100e-06"/>
	</inertial>
	</link>
	<joint name="gripper_joint_2" type="revolute">
	<parent link="link5"/>
	<child link="link7"/>
	<origin rpy="0 0 0" xyz="0.0295 -0.0108 0"/>
	<axis xyz="0 0 1"/>
	<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
	<dynamics damping="0.1"/>
	<mimic joint="gripper_joint_1" multiplier="-1"/>
	</joint>
	<link name="link7">
	<visual>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_08_gripper_gear.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</visual>
	<collision>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<geometry>
	<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_08_gripper_gear.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	<material name="grey">
	<color rgba="0.2 0.2 0.2 1"/>
	</material>
	</collision>
	<inertial>
	<origin xyz="1.616456500e-02 1.273103200e-03 2.729159800e-04"/>
	<mass value="1.209067700e-02"/>
	<inertia ixx="2.708328700e-06" ixy="1.397245300e-07" ixz="5.888794300e-08" iyy="6.873372800e-06" iyz="1.537070800e-08" izz="4.694188100e-06"/>
	</inertial>
	</link>
	</robot>