<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from poppy_ergo_jr.urdf.xacro       | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="poppy_ergo_jr">
 <mujoco>
        <compiler meshdir="D:/G/Poppy_data/meshes/"
                  balanceinertia="true"
                  strippath="false"
				  discardvisual="false"/>
  </mujoco>
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="D:/G/Poppy_data/meshes/base.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.038 0.015"/>
      <geometry>
        <cylinder length="0.03" radius="0.08"/>
      </geometry>
    </collision>
  </link>
  <link name="long_U">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="D:/G/Poppy_data/meshes/long_U.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.01"/>
      <geometry>
        <cylinder length="0.02" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
    </inertial>
  </link>
  <joint name="m1" type="continuous">
    <origin rpy="0 0 0" xyz="0 0 0.0327993216120967"/>
    <parent link="base_link"/>
    <child link="long_U"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="section_1">
    <visual>
      <origin rpy="0 1.5707963267949 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="D:/G/Poppy_data/meshes/section_1.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="0.025 0 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
    </inertial>
  </link>
  <joint name="m2" type="continuous">
    <origin rpy="0 -1.5707963267949 0" xyz="0 0 0.0240006783879033"/>
    <parent link="long_U"/>
    <child link="section_1"/>
    <axis xyz="0 0 -1"/>
  </joint>
  <link name="section_2">
    <visual>
      <origin rpy="0 1.5707963267949 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="D:/G/Poppy_data/meshes/section_2.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="0.025 0 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
    </inertial>
  </link>
  <joint name="m3" type="continuous">
    <origin rpy="0 0 0" xyz="0.054 0 0"/>
    <parent link="section_1"/>
    <child link="section_2"/>
    <axis xyz="0 0 -1"/>
  </joint>
  <link name="section_3">
    <visual>
      <origin rpy="0 3.14159268 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="D:/G/Poppy_data/meshes/section_3.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0 -0.025 0"/>
      <geometry>
        <cylinder length="0.05" radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
    </inertial>
  </link>
  <joint name="m4" type="continuous">
    <origin rpy="0 -1.5707963267949 0" xyz="0.045 0 0"/>
    <parent link="section_2"/>
    <child link="section_3"/>
    <axis xyz="0 0 -1"/>
  </joint>
  <link name="section_4">
    <visual>
      <origin rpy="0 -1.5707963267949 0" xyz="0 -0.058 0"/>
      <geometry>
        <mesh filename="D:/G/Poppy_data/meshes/section_4.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0 -0.035 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.02"/>
        <box size="0.05 0.02 0.03"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
    </inertial>
  </link>
  <joint name="m5" type="continuous">
    <origin rpy="0 -1.5707963267949 0" xyz="0 -0.048 0"/>
    <parent link="section_3"/>
    <child link="section_4"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="fixed_tip">
	<collision>
      <origin rpy="-1.5707963267949 0 0" xyz="-0.00 -0.015 0"/>
      <geometry>
        <box size="0.020 0.040 0.0005"/>
      </geometry>
    </collision>
  </link>
  <joint name="t7f" type="fixed">
    <origin rpy="-1.5707963267949 0 0" xyz="0 -0.11 0"/>
    <parent link="section_4"/>
    <child link="fixed_tip"/>
  </joint>
  <link name="section_5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="D:/G/Poppy_data/meshes/gripper.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <collision>
       <origin rpy="-1.5707963267949 0 0" xyz="-0.015 -0.05 0"/>
      <geometry>
		<box size="0.0005 0.020 0.04"/>
      </geometry>
    </collision>
	
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
    </inertial>
  </link>
  <joint name="m6" type="continuous">
    <origin rpy="0 -1.5707963267949 0" xyz="0 -0.058 0"/>
    <axis xyz="0 0 -1"/>
    <parent link="section_4"/>
    <child link="section_5"/>
  </joint>
  
  <link name="moving_tip"/>
  
  <link name="movable_hidden_tip">
  <visual>
      <origin rpy="0 0 0" xyz="0 0 0.06"/>
      <geometry>
        <box size="0.005 0.005 0.005"/>
      </geometry>
   </visual>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.03"/>
    </inertial>
  </link>
  
  
  <joint name="t7m" type="fixed">
    <origin rpy="-1.5707963267949 0 0" xyz="0 -0.052 0"/>
    <parent link="section_5"/>
    <child link="moving_tip"/>
  </joint>
  
  
  
   <joint name="t8newfixed" type="continuous">
    <origin rpy="-1.5707963267949 0 0" xyz="0 -0.062 0"/>
	<axis xyz="0 -1 0"/>

    <parent link="moving_tip"/>
    <child link="movable_hidden_tip"/>
  </joint>
  
  
  
  <transmission name="trans_m1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m1_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_m2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m2_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_m3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m3">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m3_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_m4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m4">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m4_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_m5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m5">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m5_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_m6">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="m6">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="m6_motor">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/</robotNamespace>
    </plugin>
  </gazebo>
</robot>

