<?xml version="1.0"?>
<robot name="physics">
  <link name="gripper_pole">
    <visual>
      <geometry>
        <cylinder length="0.2" radius=".01"/>
      </geometry>
      <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
      <material name="Gray">
        <color rgba=".7 .7 .7 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.2" radius=".01"/>
      </geometry>
      <origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
    </collision>
    <inertial>
      <mass value="0.5"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="left_gripper_joint" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-2.0" upper="2.548" velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0.2 0.01 0"/>
    <parent link="gripper_pole"/>
    <child link="left_gripper"/>
  </joint>

  <link name="left_gripper">
    <contact>
      <lateral_friction value="1.0"/>
      <spinning_friction value="1.5"/>
    </contact>
    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="l_finger_collision.stl"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0.0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="l_finger_collision.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="left_tip_joint" type="fixed">
    <parent link="left_gripper"/>
    <child link="left_tip"/>
  </joint>

  <link name="left_tip">
    <contact>
      <lateral_friction value="1.0"/>
      <spinning_friction value="1.5"/>
    </contact>
    <visual>
      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
      <geometry>
        <mesh filename="l_finger_tip.stl"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size=".03 .01 .02"/>
      </geometry>
      <origin rpy="0.0 0.0 0" xyz="0.105 -0.005 0"/>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="right_gripper_joint" type="revolute">
    <axis xyz="0 0 -1"/>
    <limit effort="1000.0" lower="-2.0" upper="2." velocity="0.5"/>
    <origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
    <parent link="gripper_pole"/>
    <child link="right_gripper"/>
  </joint>

  <link name="right_gripper">
    <contact>
      <lateral_friction value="1.0"/>
      <spinning_friction value="1.5"/>
    </contact>
    <visual>
      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="l_finger_collision.stl"/>
      </geometry>
    </visual>
         <collision>
      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="l_finger_collision.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

  <joint name="right_tip_joint" type="fixed">
    <parent link="right_gripper"/>
    <child link="right_tip"/>
  </joint>

  <link name="right_tip">
    <contact>
      <lateral_friction value="1.0"/>
      <spinning_friction value="1.5"/>
    </contact>
    <visual>
      <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
      <geometry>
        <mesh filename="l_finger_tip.stl"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
      	<box size=".03 .01 .02"/>
      </geometry>
      <origin rpy="-3.1415 0 0" xyz="0.105 0.015 0"/>
    </collision>
	<collision>
      <geometry>
        <box size=".01 .02 .02"/>
      </geometry>
      <origin rpy="-3.1415 0 -0.5" xyz="0.095 0.005 0"/>
    </collision>

    <inertial>
      <mass value="0.1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
</robot>
