<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robotiq_arg2f_85_model.xacro   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="robotiq_arg2f_85_model">
  <link name="robotiq_arg2f_base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
      <mass value="0.22652"/>
      <inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_base_link.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_outer_knuckle">
    <!--<inertial>
        <origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
        <mass value="0.00853198276973456" />
        <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
        </inertial> -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="left_outer_finger">
    <!--<inertial>
        <origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
        <mass value="0.022614240507152" />
        <inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05" />
        </inertial> -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="left_inner_finger">
    <!--<inertial>
        <origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
        <mass value="0.0104003125914103" />
        <inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06" />
        </inertial> -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="left_inner_finger_pad">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.022 0.00635 0.0375"/>
      </geometry>
      <material name="">
        <color rgba="0.9 0.9 0.9 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.022 0.00635 0.0375"/>
      </geometry>
      <material name="">
        <color rgba="0.9 0.0 0.0 1"/>
      </material>
    </collision>
  </link>
  <link name="left_inner_knuckle">
    <!--<inertial>
        <origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
       <mass value="0.0271177346495152" />
        <inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05" />
        </inertial> -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="right_outer_knuckle">
    <!--<inertial>
        <origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
        <mass value="0.00853198276973456" />
        <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
        </inertial> -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="right_outer_finger">
    <!--<inertial>
        <origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
        <mass value="0.022614240507152" />
        <inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05" />
        </inertial> -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="right_inner_finger">
    <!--<inertial>
        <origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
        <mass value="0.0104003125914103" />
        <inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06" />
        </inertial> -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="right_inner_finger_pad">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.022 0.00635 0.0375"/>
      </geometry>
      <material name="">
        <color rgba="0.9 0.9 0.9 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.022 0.00635 0.0375"/>
      </geometry>
      <material name="">
        <color rgba="0.9 0.0 0.0 1"/>
      </material>
    </collision>
  </link>
  <link name="right_inner_knuckle">
    <!--<inertial>
        <origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
       <mass value="0.0271177346495152" />
        <inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05" />
        </inertial> -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="finger_joint" type="revolute">
    <origin rpy="0 0 3.141592653589793" xyz="0 -0.0306011 0.054904"/>
    <parent link="robotiq_arg2f_base_link"/>
    <child link="left_outer_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0" upper="0.8" velocity="2.0"/>
  </joint>
  <joint name="left_outer_finger_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
    <parent link="left_outer_knuckle"/>
    <child link="left_outer_finger"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="left_inner_knuckle_joint" type="revolute">
    <!-- <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" /> -->
    <origin rpy="0 0 3.141592653589793" xyz="0 -0.0127 0.06142"/>
    <parent link="robotiq_arg2f_base_link"/>
    <child link="left_inner_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="1" offset="0"/>
  </joint>
  <joint name="left_inner_finger_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
    <parent link="left_outer_finger"/>
    <child link="left_inner_finger"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.8757" upper="0" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
  </joint>
  <joint name="left_inner_finger_pad_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
    <parent link="left_inner_finger"/>
    <child link="left_inner_finger_pad"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="right_outer_knuckle_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
    <parent link="robotiq_arg2f_base_link"/>
    <child link="right_outer_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0" upper="0.81" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="1" offset="0"/>
  </joint>
  <joint name="right_outer_finger_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
    <parent link="right_outer_knuckle"/>
    <child link="right_outer_finger"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="right_inner_knuckle_joint" type="revolute">
    <!-- <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" /> -->
    <origin rpy="0 0 0.0" xyz="0 0.0127 0.06142"/>
    <parent link="robotiq_arg2f_base_link"/>
    <child link="right_inner_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="1" offset="0"/>
  </joint>
  <joint name="right_inner_finger_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
    <parent link="right_outer_finger"/>
    <child link="right_inner_finger"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.8757" upper="0" velocity="2.0"/>
    <mimic joint="finger_joint" multiplier="-1" offset="0"/>
  </joint>
  <joint name="right_inner_finger_pad_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
    <parent link="right_inner_finger"/>
    <child link="right_inner_finger_pad"/>
    <axis xyz="0 0 1"/>
  </joint>
  <transmission name="finger_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="finger_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="finger_joint_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
</robot>

