3D Model and URDF of the Kinova MICO Arm
mico_description contains urdf and xacro files for the MICO arm. It also includes a launch file for reading the robot model and setting up a joint_state_publisher and robot_state_publisher for visualization in tools such as rviz.
This package contains robot description files for the MICO arm, organized into subdirectories as follows:
urdf/ contains xacro representations of urdf descriptions of the arm and its parts, as well as a generated urdf file for the standalone arm.
robots/ contains urdf descriptions for the arms as standalone robots.
meshes/ contains mesh files for visualization and collision properties.
To install the wpi_jaco package, you can install from source with the following commands:
The mico_description package includes a launch file that can be used to load the robot model and setup joint state and robot state publishing used to populate a tf tree and visualize the robot. Once launched, the MICO model can be visualized in tools such as rviz. It can be launched with the following command:
roslaunch mico_description display.launch
The launch file also includes a parameter (gui) to launch a GUI which can control each joint to test the model's behavior, which can be launched as follows:
roslaunch mico_description display.launch gui:=true