#MPK v1.0 robot

selfcoll{
  SpotGunFinger1 Base
  SpotGunFinger2 Base

  SpotGunFinger1 Shoulder
  SpotGunFinger2 Shoulder

  SpotGunFinger1 UpperArm
  SpotGunFinger2 UpperArm

}

param {
  0 { default 0.5 }
  1 { default 0.6 }
  2 { default 0.7 }
  6 { passive weight 0.05 }
}

joint Base {
  ConstRot 1 0 0 -1.571
  model0 "Irb2400/l0.ivfix"
}

joint Shoulder {
  parent Base
  Rot1 0 0 1 -2.79 2.79
  param 0
  model0 "Irb2400/l1.ivfix"
}

joint UpperArm {
  parent Shoulder
  ConstTransl 0.1 0 0.610
  Rot1 0 -1 0 -1.0 1.0
  param 1
  model0 "Irb2400/l4.ivfix"
}

joint ForeArm {
  parent UpperArm
  ConstTransl 0 0 0.71
  Rot1 0 -1 0 -1.2 1.0
  param 2
  model0 "Irb2400/l7.ivfix"
}

joint Wrist1 {
  parent ForeArm
  ConstTransl -0.1 0 0.13
  Rot1 1 0 0 -1.57 1.57
  param 3
  model0 "Irb2400/l8.ivfix"
}

joint Wrist2 {
  parent Wrist1
  ConstTransl 0.855 0 0
  Rot1 0 1 0 -2.61 2.61
  param 4
  model0 "Irb2400/l9.ivfix"
}

joint SpotGunWrist {
  parent Wrist2
  ConstTransl 0.72 0 0
  ConstRot 0 1 0 1.57
  ConstRot 1 0 0 1.57
  Rot1 0 1 0 -2.61 2.61
  param 5
  model0 "Irb2400/spotgun3.iv"
}

joint Lever {
  parent UpperArm
  ConstTransl 0 0 0.005
  Rot1 0 -1 0 -1.2 1.0
  param 2
  model0 "Irb2400/l5.ivfix"
  coll FALSE
}

joint LeverArm {
  parent Lever
  ConstTransl -0.169 -0.036 0
  Rot1 0 1 0 -1.2 1.0
  param 2
  model0 "Irb2400/l6.ivfix"
}

joint SpotGunFinger1 {
  parent SpotGunWrist
  ConstTransl -0.135 -0.365 0
  Rot1 0 0 1 -0.1 0.06
  param 6
  model0 "Irb2400/spotgun14_tr.iv"
}

joint SpotGunFinger2 {
  parent SpotGunWrist
  ConstTransl -0.135 -0.365 0
  Rot1 0 0 -1 -0.1 0.06
  param 6
  model0 "Irb2400/spotgun2_tr.iv"
}

joint tp {
  parent SpotGunFinger1
  ConstTransl 0.01 0.49 0
  coll FALSE
  tracePoint
}