<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from dh_robotics_ag95_gripper.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="dh_robotics_ag95_gripper" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/</robotNamespace>
    </plugin>
  </gazebo> -->
  <!-- <link name="world"/>
  <joint name="world_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="world"/>
    <child link="gripper_root_link"/>
  </joint> -->
  <!-- <link name="gripper_root_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.5"/>
      <geometry>
        <box size="0.1 0.1 1.0"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.5"/>
      <geometry>
        <box size="0.1 0.1 1.0"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e2"/>
      <origin xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.000001" ixy="0.000000" ixz="0.000000" iyx="0.000000" iyy="0.000001" iyz="0.000000" izx="0.000000" izy="0.000000" izz="0.000001"/>
    </inertial>
  </link> -->
  <!-- <joint name="ee_fixed_joint" type="fixed">
    <parent link="gripper_root_link"/>
    <child link="ee_link"/>
    <origin rpy="0 0 0" xyz="0.05 0 0.85"/>
  </joint> -->
  <!-- <link name="ee_link"/> -->

  <!-- <joint name="gripper_base_joint" type="fixed">
    <parent link="ee_link"/>
    <child link="gripper_base_link"/>
    <origin rpy="1.57075 0 1.57075" xyz="0 0 0"/>
  </joint> -->
  <link name="gripper_base_link">
    <visual>
        <geometry>
          <mesh filename="description/dh_robotics_ag95_description/meshes/visual/base_link.dae"  scale = "0.001 0.001 0.001"/>
        </geometry>
    </visual>
    <collision>
        <geometry>
            <mesh filename="description/dh_robotics_ag95_description/meshes/visual/base_link.dae"  scale = "0.001 0.001 0.001"/>
        </geometry>
    </collision>
        <inertial>
          <mass value="0.83416" />
            <origin xyz="0.0 0.0 0.0" />
              <inertia ixx = "0.0013016" ixy = "-6.9374e-07" ixz = "5.9848e-07"
                       iyx = "0.000000" iyy = "0.00049972" iyz = "2.0244E-07"
                       izx = "0.000000" izy = "0.000000" izz = "0.001498" />
       </inertial>
    </link>
  <gazebo reference="gripper_base_link">
    <implicitSpringDamper>1</implicitSpringDamper>
    <mu1>100000</mu1>
    <mu2>100000</mu2>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
  </gazebo>
  <joint name="gripper_finger1_joint" type="revolute">
    <parent link="gripper_base_link"/>
    <child link="gripper_finger1_knuckle_link"/>
      <axis xyz="0 -1 0"/>
      <origin rpy="0.0 0.0 3.14" xyz="-0.016 0 0.10586"/>
      <limit lower="0.0" upper="0.6524" velocity="2.0" effort="1000"/>
  </joint>
  <joint name="gripper_finger2_joint" type="revolute">
    <parent link="gripper_base_link"/>
    <child link="gripper_finger2_knuckle_link"/>
    <axis xyz="0 -1 0"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.016  0 0.10586 "/>
    <limit lower="-3.14" upper="3.14" velocity="100.0" effort="1000"/>
    <mimic joint="gripper_finger1_joint"/>
  </joint>
  <link name="gripper_finger1_knuckle_link">
            <visual>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/crank_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/crank_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.011111" />
                <origin xyz="0.0 0.0 0.0" />
                <inertia ixx = "3.88172e-06" ixy = "-2.29456e-13" ixz = "8.33e-07"
                         iyx = "0.000000" iyy = "1.92174e-06" iyz = "2.04435e-13"
                         izx = "0.000000" izy = "0.000000" izz = "4.32374e-06" />
            </inertial>
        </link>
  <gazebo reference="gripper_finger1_knuckle_link">
    <implicitSpringDamper>1</implicitSpringDamper>
    <mu1>100000</mu1>
    <mu2>100000</mu2>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
  </gazebo>
  <link name="gripper_finger2_knuckle_link">
            <visual>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/crank_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/crank_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.011111" />
                <origin xyz="0.0 0.0 0.0" />
                <inertia ixx = "3.88172e-06" ixy = "-2.29456e-13" ixz = "8.33e-07"
                         iyx = "0.000000" iyy = "1.92174e-06" iyz = "2.04435e-13"
                         izx = "0.000000" izy = "0.000000" izz = "4.32374e-06" />
            </inertial>
        </link>
  <gazebo reference="gripper_finger2_knuckle_link">
    <implicitSpringDamper>1</implicitSpringDamper>
    <mu1>100000</mu1>
    <mu2>100000</mu2>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
  </gazebo>
        <joint name="gripper_finger1_finger_joint" type="continuous">
            <parent link="gripper_finger1_knuckle_link"/>
            <child link="gripper_finger1_finger_link"/>
            <axis xyz="0 -1 0"/>
            <origin xyz="0.0292080077784 0.0 -0.0227132622407" rpy="0 0 0" />
            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
            <mimic joint="gripper_finger1_joint" multiplier="0.4563942" offset="0"/>
        </joint>

        <joint name="gripper_finger2_finger_joint" type="continuous">
            <parent link="gripper_finger2_knuckle_link"/>
            <child link="gripper_finger2_finger_link"/>
            <axis xyz="0 -1 0"/>
            <origin xyz="0.0292080077784 0.0 -0.0227132622407" rpy="0 0 0" />
            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
            <mimic joint="gripper_finger1_joint" multiplier="0.4563942" offset="0"/>
        </joint>
  <link name="gripper_finger1_finger_link">
            <visual>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/rod_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/rod_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.0222871" />
                <origin xyz="0.0 0.0 0.0" />
                <inertia ixx = "8.72836e-06" ixy = "7.0843e-15" ixz = "-2.18833e-06"
                         iyx = "-0.000002" iyy = "7.26157e-06" iyz = "7.6579e-15"
                         izx = "0.000000" izy = "0.000000" izz = "3.3425e-06" />
            </inertial>
        </link>
  <gazebo reference="gripper_finger1_finger_link">
    <implicitSpringDamper>1</implicitSpringDamper>
    <mu1>100000</mu1>
    <mu2>100000</mu2>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
  </gazebo>
  <link name="gripper_finger2_finger_link">
<visual>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/rod_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/rod_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.0222871" />
                <origin xyz="0.0 0.0 0.0" />
                <inertia ixx = "8.72836e-06" ixy = "7.0843e-15" ixz = "-2.18833e-06"
                         iyx = "-0.000002" iyy = "7.26157e-06" iyz = "7.6579e-15"
                         izx = "0.000000" izy = "0.000000" izz = "3.3425e-06" />
            </inertial>
        </link>
  <gazebo reference="gripper_finger2_finger_link">
    <implicitSpringDamper>1</implicitSpringDamper>
    <mu1>100000</mu1>
    <mu2>100000</mu2>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
  </gazebo>

  <joint name="gripper_finger1_inner_knuckle_joint" type="continuous">
    <parent link="gripper_base_link"/>
    <child link="gripper_finger1_inner_knuckle_link"/>
            <axis xyz="0 -1 0"/>
            <origin rpy="0.0 0.0 3.14" xyz="-0.016 0 0.10586"/>
            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
            <mimic joint="gripper_finger1_joint" multiplier="1.49462955"  offset="0"/>
 </joint>
  <joint name="gripper_finger2_inner_knuckle_joint" type="continuous">
    <parent link="gripper_base_link"/>
    <child link="gripper_finger2_inner_knuckle_link"/>
            <axis xyz="0 -1 0"/>
            <origin rpy="0.0 0.0 0.0" xyz="0.016 0 0.10586"/>
            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
            <mimic joint="gripper_finger1_joint" multiplier="1.49462955"  offset="0"/>
  </joint>
     <link name="gripper_finger1_inner_knuckle_link">
            <visual>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/proximal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/proximal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.0318004" />
                <origin xyz="0.0 0.0 0.0" />
                <inertia ixx = "1.39848e-05" ixy = "-9.54763e-15" ixz = "-5.01422e-06"
                         iyx = "0.000000" iyy = "1.04943e-05" iyz = "8.94585e-16"
                         izx = "0.000000" izy = "0.000000" izz = "1.36183e-05" />
            </inertial>
      </link>
  <gazebo reference="gripper_finger1_inner_knuckle_link">
    <implicitSpringDamper>1</implicitSpringDamper>
    <mu1>100000</mu1>
    <mu2>100000</mu2>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
  </gazebo>
<link name="gripper_finger2_inner_knuckle_link">
            <visual>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/proximal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/proximal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.0318004" />
                <origin xyz="0.0 0.0 0.0" />
                <inertia ixx = "1.39848e-05" ixy = "-9.54763e-15" ixz = "-5.01422e-06"
                         iyx = "0.000000" iyy = "1.04943e-05" iyz = "8.94585e-16"
                         izx = "0.000000" izy = "0.000000" izz = "1.36183e-05" />
            </inertial>
        </link>
   <gazebo reference="gripper_finger2_inner_knuckle_link">
    <implicitSpringDamper>1</implicitSpringDamper>
    <mu1>100000</mu1>
    <mu2>100000</mu2>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
  </gazebo>
<joint name="gripper_finger1_finger_tip_joint" type="continuous">
    <parent link="gripper_finger1_inner_knuckle_link"/>
    <child link="gripper_finger1_finger_tip_link"/>
            <axis xyz="0 1 0"/>
            <origin xyz="0.0394969463769 0.0 0.0382752038125 " rpy="0.0 0.0 0.0"/>
            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
            <mimic joint="gripper_finger1_joint" multiplier="1.49462955"/>
        </joint>
  <joint name="gripper_finger2_finger_tip_joint" type="continuous">
    <parent link="gripper_finger2_inner_knuckle_link"/>
    <child link="gripper_finger2_finger_tip_link"/>
            <axis xyz="0 1 0"/>
            <origin rpy="0.0 0.0 0.0" xyz="0.0394969463769  0.0 0.0382752038125  "/>
            <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
            <mimic joint="gripper_finger1_joint" multiplier="1.49462955"/>
  </joint>
  <link name="gripper_finger1_finger_tip_link">
            <visual>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/distal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/distal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.0124305" />
                <origin xyz="0.0 0.0 0.0" />
                <inertia ixx = "2.84217e-06" ixy = "-2.48048e-15" ixz = "8.24539e-07"
                         iyx = "0.000000" iyy = "3.03961e-06" iyz = "2.16427e-13"
                         izx = "0.000000" izy = "0.000000" izz = "1.11815e-06" />
            </inertial>
        </link> 
  <gazebo reference="gripper_finger1_finger_tip_link">
    <implicitSpringDamper>1</implicitSpringDamper>
    <mu1>100000</mu1>
    <mu2>100000</mu2>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
  </gazebo>
  <link name="gripper_finger2_finger_tip_link">
            <visual>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/distal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                    <mesh filename="description/dh_robotics_ag95_description/meshes/visual/distal_phalanx_Link.dae"  scale = "0.001 0.001 0.001"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.0124305" />
                <origin xyz="0.0 0.0 0.0" />
                <inertia ixx = "2.84217e-06" ixy = "-2.48048e-15" ixz = "8.24539e-07"
                         iyx = "0.000000" iyy = "3.03961e-06" iyz = "2.16427e-13"
                         izx = "0.000000" izy = "0.000000" izz = "1.11815e-06" />
            </inertial>
        </link> 
  <gazebo reference="gripper_finger2_finger_tip_link">
    <implicitSpringDamper>1</implicitSpringDamper>
    <mu1>100000</mu1>
    <mu2>100000</mu2>
    <kp>100000000.0</kp>
    <kd>1.0</kd>
  </gazebo>
  
    <transmission name="gripper_finger1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="gripper_finger1_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="gripper_finger1_motor">
      <mechanicalReduction>1</mechanicalReduction>
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </actuator>
  </transmission>
  <gazebo>
    <!-- loading plugin: mimic joints works in gazebo now -->
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_1">
      <joint>gripper_finger1_joint</joint>
      <mimicJoint>gripper_finger2_joint</mimicJoint>
      <multiplier>1.0</multiplier>
      <offset>0.0</offset>
    </plugin>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_2">
      <joint>gripper_finger1_joint</joint>
      <mimicJoint>gripper_finger2_inner_knuckle_joint</mimicJoint>
      <multiplier>1.49462955</multiplier>
      <offset>0.0</offset>
    </plugin>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_3">
      <joint>gripper_finger1_joint</joint>
      <mimicJoint>gripper_finger1_inner_knuckle_joint</mimicJoint>
      <multiplier>1.49462955</multiplier>
      <offset>0.0</offset>
    </plugin>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_4">
      <joint>gripper_finger1_joint</joint>
      <mimicJoint>gripper_finger1_finger_tip_joint</mimicJoint>
      <multiplier>1.49462955</multiplier>          
      <offset>0.0</offset>
    </plugin>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_5">
      <joint>gripper_finger1_joint</joint>
      <mimicJoint>gripper_finger2_finger_tip_joint</mimicJoint>
      <multiplier>1.49462955</multiplier>          
      <offset>0.0</offset>
    </plugin>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_6">
      <joint>gripper_finger1_joint</joint>
      <mimicJoint>gripper_finger1_finger_joint</mimicJoint>
      <multiplier>0.4563942</multiplier>
      <offset>0.0</offset>
    </plugin>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_dh_robotics_ag95_7">
      <joint>gripper_finger1_joint</joint>
      <mimicJoint>gripper_finger2_finger_joint</mimicJoint>
      <multiplier>0.4563942</multiplier>
      <offset>0.0</offset>
    </plugin>
  </gazebo>
</robot>

