ur3_robotiq_140.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from sisbot.xacro                   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ur3_robotiq_140" xmlns:xacro="http://ros.org/wiki/xacro">
  <!--################################################
  ########              arm                    #######
  ####################################################-->

  <link name="base_link">
    <contact>
      <lateral_friction value="1"/>
  </contact>
    <visual>
      <geometry>
        <mesh filename="../meshes/ur3/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur3/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0030531654454" ixy="0.0" ixz="0.0" iyy="0.0030531654454" iyz="0.0" izz="0.005625"/>
    </inertial>
  </link>

<joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1519"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.16"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="shoulder_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur3/visual/shoulder.dae"/>
      </geometry>
      <material name="DarkGray">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur3/collision/shoulder.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.008093163429399999" ixy="0.0" ixz="0.0" iyy="0.008093163429399999" iyz="0.0" izz="0.005625"/>
    </inertial>
   </link>
   <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.1198 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.16"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur3/visual/upperarm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur3/collision/upperarm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.42"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.121825"/>
      <inertia ixx="0.021728483221103233" ixy="0.0" ixz="0.0" iyy="0.021728483221103233" iyz="0.0" izz="0.00961875"/>
    </inertial>
  </link>
  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0925 0.24365"/>
    <axis xyz="0 1 0"/>
    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.15"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="forearm_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur3/visual/forearm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur3/collision/forearm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.26"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.106625"/>
      <inertia ixx="0.006546806443776375" ixy="0.0" ixz="0.0" iyy="0.006546806443776375" iyz="0.0" izz="0.00354375"/>
    </inertial>
  </link>
  <joint name="wrist_1_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_1_link"/>
    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.21325"/>
    <axis xyz="0 1 0"/>
    <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_1_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur3/visual/wrist1.dae"/>
      </geometry>
      <material name="DarkGray">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur3/collision/wrist1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.8"/>
      <origin rpy="0 0 0" xyz="0.0 0.08505 0.0"/>
      <inertia ixx="0.002084999166" ixy="0.0" ixz="0.0" iyy="0.002084999166" iyz="0.0" izz="0.00225"/>
    </inertial>
  </link>
  <joint name="wrist_2_joint" type="revolute">
    <parent link="wrist_1_link"/>
    <child link="wrist_2_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.08505 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_2_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur3/visual/wrist2.dae"/>
      </geometry>
      <material name="DarkGray">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur3/collision/wrist2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.8"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.08535"/>
      <inertia ixx="0.002084999166" ixy="0.0" ixz="0.0" iyy="0.002084999166" iyz="0.0" izz="0.00225"/>
    </inertial>
  </link>
  <joint name="wrist_3_joint" type="revolute">
    <parent link="wrist_2_link"/>
    <child link="wrist_3_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08535"/>
    <axis xyz="0 1 0"/>
    <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_3_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur3/visual/wrist3.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur3/collision/wrist3.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.35"/>
      <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0619 0.0"/>
      <inertia ixx="0.00013626661215999998" ixy="0.0" ixz="0.0" iyy="0.00013626661215999998" iyz="0.0" izz="0.0001792"/>
    </inertial>
  </link>
  <joint name="ee_fixed_joint" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="ee_link"/>
    <origin rpy="0.0 0.0 1.5707963267948966" xyz="0.0 0.0819 0.0"/>
  </joint>
  <link name="ee_link">
    <collision>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
    </collision>
  </link>

  <!--################################################
  ########              gripper                  #####
  ####################################################-->

 <link name="robotiq_140_robotiq_arg2f_base_link">
  <contact>
    <lateral_friction value="1"/>
</contact>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00013 0.00011 0.03284"/>
      <mass value="0.52954"/>
      <inertia ixx="573495E-9" ixy="-554E-9" ixz="2628E-9" iyy="681780E-9" iyz="607E-9" izz="483281E-9"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_140_gripper_description/meshes/GRIPPER_base_axis.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Gazebo/Black">
        <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_140_gripper_description/meshes/GRIPPER_base_axis.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_140_robotiq_arg2f_base_link">
    <material>Gazebo/Black</material>
    <selfCollide>True</selfCollide>
  </gazebo>
  <!-- robotiq_85_left_knuckle_link -->
  <link name="robotiq_140_left_outer_knuckle">
    <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0.01616 0 -0.00133"/>
      <mass value="0.0131"/>
      <inertia ixx="325.5E-9" ixy="0" ixz="197.94E-9" iyy="2306.36E-9" iyz="0" izz="2176E-9"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_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_140_gripper_description/meshes/robotiq_140_left_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_140_left_outer_knuckle">
    <material>Gazebo/Grey</material>
    <selfCollide>True</selfCollide>
  </gazebo>
  <!-- robotiq_85_right_knuckle_link -->
  <link name="robotiq_140_right_outer_knuckle">
    <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01616 0 -0.00133"/>
      <mass value="0.0131"/>
      <inertia ixx="325.5E-9" ixy="0" ixz="-197.94E-9" iyy="2306.36E-9" iyz="0" izz="2176E-9"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_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_140_gripper_description/meshes/robotiq_140_right_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_140_right_outer_knuckle">
    <material>Gazebo/Grey</material>
    <selfCollide>True</selfCollide>
  </gazebo>
  <!-- robotiq_85_left_inner_knuckle_link -->
  <link name="robotiq_140_left_inner_knuckle">
    <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0.03332 0 0.0379"/>
      <mass value="0.04476"/>
      <inertia ixx="28054E-9" ixy="0" ixz="-19174E-9" iyy="39758E-9" iyz="0" izz="23453E-9"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_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_140_gripper_description/meshes/robotiq_140_left_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_140_left_inner_knuckle">
    <material>Gazebo/Black</material>
    <selfCollide>False</selfCollide>
  </gazebo>
  <!-- robotiq_85_right_inner_knuckle_link -->
  <link name="robotiq_140_right_inner_knuckle">
    <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.03332 0 0.0379"/>
      <mass value="0.04476"/>
      <inertia ixx="28054E-9" ixy="0" ixz="19174E-9" iyy="39758E-9" iyz="0" izz="23453E-9"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Gazebo/Black">
        <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_140_gripper_description/meshes/robotiq_140_right_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_140_right_inner_knuckle">
    <material>Gazebo/Black</material>
    <selfCollide>False</selfCollide>
  </gazebo>
  <!-- robotiq_85_left_finger_link -->
  <link name="robotiq_140_left_inner_finger">
    <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01563 0 0.02522"/>
      <mass value="0.045"/>
      <inertia ixx="26663E-9" ixy="0" ixz="5579E-9" iyy="28009E-9" iyz="0" izz="4368E-9"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_finger.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_140_gripper_description/meshes/robotiq_140_left_inner_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_140_left_inner_finger">
    <material>Gazebo/Black</material>
    <selfCollide>False</selfCollide>
  </gazebo>
  <!-- robotiq_85_right_finger_link -->
  <link name="robotiq_140_right_inner_finger">
    <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0.01563 0 0.02522"/>
      <mass value="0.045"/>
      <inertia ixx="26663E-9" ixy="0" ixz="-5579E-9" iyy="28009E-9" iyz="0" izz="4368E-9"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Gazebo/Black">
        <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_140_gripper_description/meshes/robotiq_140_right_inner_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_140_right_inner_finger">
    <material>Gazebo/Black</material>
    <selfCollide>False</selfCollide>
  </gazebo>
  <!-- robot -->
  <link name="robotiq_140_left_outer_finger">
    <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0.01482 0 0.03451"/>
      <mass value="0.07637"/>
      <inertia ixx="45513E-9" ixy="0" ixz="-20691E-9" iyy="52570E-9" iyz="0" izz="17804E-9"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Gazebo/Black">
        <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_140_gripper_description/meshes/robotiq_140_left_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_140_left_outer_finger">
    <material>Gazebo/Black</material>
    <selfCollide>True</selfCollide>
  </gazebo>
  <!-- robot -->
  <link name="robotiq_140_right_outer_finger">
    <contact>
      <lateral_friction value="1"/>
  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01482 0 0.03451"/>
      <mass value="0.07637"/>
      <inertia ixx="45513E-9" ixy="0" ixz="20691E-9" iyy="52570E-9" iyz="0" izz="17804E-9"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="Gazebo/Black">
        <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_140_gripper_description/meshes/robotiq_140_right_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <gazebo reference="robotiq_140_right_outer_finger">
    <material>Gazebo/Black</material>
    <selfCollide>True</selfCollide>
  </gazebo>
  <!-- robot -->
  <joint name="robotiq_arg2f_base_to_robotiq_140_left_outer_knuckle" type="revolute">
    <origin rpy="0 0 0" xyz="0.0306 0 0.05466"/>
    <parent link="robotiq_140_robotiq_arg2f_base_link"/>
    <child link="robotiq_140_left_outer_knuckle"/>
    <axis xyz="0 -1 0"/>
    <limit effort="18.65" lower="0" upper="0.78574722925" velocity="2.0"/>
    <mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
  </joint>
  <!-- robot -->
  <joint name="robotiq_140_joint_finger" type="revolute">
    <origin rpy="0 0 0" xyz="-0.0306 0 0.05466"/>
    <parent link="robotiq_140_robotiq_arg2f_base_link"/>
    <child link="robotiq_140_right_outer_knuckle"/>
    <axis xyz="0 1 0"/>
    <limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
  </joint>
  <!-- robot -->
  <joint name="robotiq_arg2f_base_to_robotiq_140_left_inner_knuckle" type="revolute">
    <origin rpy="0 0 0" xyz="0.0127 0 0.06118"/>
    <parent link="robotiq_140_robotiq_arg2f_base_link"/>
    <child link="robotiq_140_left_inner_knuckle"/>
    <axis xyz="0 -1 0"/>
    <limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
    <mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
  </joint>
  <!-- robot -->
  <joint name="robotiq_arg2f_base_to_robotiq_140_right_inner_knuckle" type="revolute">
    <origin rpy="0 0 0" xyz="-0.0127 0 0.06118"/>
    <parent link="robotiq_140_robotiq_arg2f_base_link"/>
    <child link="robotiq_140_right_inner_knuckle"/>
    <axis xyz="0 1 0"/>
    <limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
    <mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
  </joint>
  <!-- robot -->
  <joint name="robotiq_140_left_outer_knuckle_to_finger" type="fixed">
    <origin rpy="0 0 0" xyz="0.03142 0 -0.00453"/>
    <parent link="robotiq_140_left_outer_knuckle"/>
    <child link="robotiq_140_left_outer_finger"/>
  </joint>

  <!-- robot -->
  <joint name="robotiq_140_right_outer_knuckle_to_finger" type="fixed">
    <origin rpy="0 0 0" xyz="-0.03142 0 -0.00453"/>
    <parent link="robotiq_140_right_outer_knuckle"/>
    <child link="robotiq_140_right_outer_finger"/>
  </joint>
  <!-- robot -->
  <joint name="robotiq_140_left_outer_finger_to_inner" type="revolute">
    <origin rpy="0 0 0" xyz="0.03543 0 0.0789"/>
    <parent link="robotiq_140_left_outer_finger"/>
    <child link="robotiq_140_left_inner_finger"/>
    <axis xyz="0 1 0"/>
    <limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
    <mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
  </joint>
  <!-- robot -->
  <joint name="robotiq_140_right_outer_finger_to_inner" type="revolute">
    <origin rpy="0 0 0" xyz="-0.03543 0 0.0789"/>
    <parent link="robotiq_140_right_outer_finger"/>
    <child link="robotiq_140_right_inner_finger"/>
    <axis xyz="0 -1 0"/>
    <limit effort="18.65" lower="0" upper="0.78574722925" velocity="3.54"/>
    <mimic joint="robotiq_140_joint_finger" multiplier="1" offset="0"/>
  </joint>


<!--################################################
  ########          connect model                #####
  ####################################################-->

  <link name="world"/>
  <!-- connect gripper to arm -->
  <joint name="arm_gripper_joint" type="fixed">
    <parent link="ee_link"/>
    <child link="robotiq_140_robotiq_arg2f_base_link"/>
    <origin rpy="-1.57 1.57 -1.57" xyz="0.0 0.0 0.0"/>
  </joint>

  <!-- connect arm to world -->
  <joint name="world_arm_joint" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin rpy="0.0 0.0 0" xyz="0 0 0.0"/>
  </joint>


</robot>