<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    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">
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      <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"/>
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      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
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    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
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        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_base_link.stl"/>
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        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
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  <link name="left_outer_finger">
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    <visual>
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        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
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  <link name="left_inner_finger">
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        <origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
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    <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"/>
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      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
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    <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"/>
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    </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"/>
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      <material name="">
        <color rgba="0.9 0.9 0.9 1"/>
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    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.022 0.00635 0.0375"/>
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      <material name="">
        <color rgba="0.9 0.0 0.0 1"/>
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    </collision>
  </link>
  <link name="left_inner_knuckle">
    <inertial>
        <origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
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    <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"/>
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      <material name="">
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    <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"/>
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    </collision>
  </link>
  <link name="right_outer_knuckle">
    <inertial>
        <origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
        <mass value="0.00853198276973456" />
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    </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"/>
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      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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    </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"/>
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    </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" />
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    <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"/>
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      <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"/>
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    </collision>
  </link>
  <link name="right_inner_finger">
    <inertial>
        <origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
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    </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"/>
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      <material name="">
        <color rgba="0.1 0.1 0.1 1"/>
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    <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"/>
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    </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"/>
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      <material name="">
        <color rgba="0.9 0.9 0.9 1"/>
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    </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" />
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    <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 3.14159265359" 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 3.14159265359" 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" upper="0.8757" 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" upper="0.8757" 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>

