<?xml version="1.0"?>
<robot name="panda_gripper">
  <link name="panda_hand">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/hand.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.570795 0 0" xyz="0 0 0.02617"/>
      <geometry>
        <box size="0.036 0.08 0.2"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0003"/>
      <geometry>
        <cylinder radius="0.03" length="0.0077"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
      <mass value="0.73"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
    </inertial>
  </link>
  <link name="panda_hand_tcp"/>
  <joint name="panda_hand_tcp_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.1034"/>
    <parent link="panda_hand"/>
    <child link="panda_hand_tcp"/>
  </joint>
  <link name="panda_leftfinger">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/finger.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
      <geometry>
        <box size="22e-3 15e-3 20e-3"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
      <geometry>
        <box size="22e-3 8.8e-3 3.8e-3"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
      <geometry>
        <box size="17.5e-3 7e-3 23.5e-3"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
      <geometry>
        <box size="17.5e-3 15.2e-3 18.5e-3"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.015"/>
      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06"
               iyz="0" izz="7.5e-07"/>
    </inertial>
  </link>
  <link name="panda_rightfinger">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes/visual/finger.glb"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
      <geometry>
        <box size="22e-3 15e-3 20e-3"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
      <geometry>
        <box size="22e-3 8.8e-3 3.8e-3"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
      <geometry>
        <box size="17.5e-3 7e-3 23.5e-3"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
      <geometry>
        <box size="17.5e-3 15.2e-3 18.5e-3"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.015"/>
      <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06"
               iyz="0" izz="7.5e-07"/>
    </inertial>
  </link>
  <joint name="panda_finger_joint1" type="prismatic">
    <parent link="panda_hand"/>
    <child link="panda_leftfinger"/>
    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
    <dynamics damping="0.3"/>
  </joint>
  <joint name="panda_finger_joint2" type="prismatic">
    <parent link="panda_hand"/>
    <child link="panda_rightfinger"/>
    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
    <axis xyz="0 -1 0"/>
    <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
    <mimic joint="panda_finger_joint1" multiplier="1" offset="0"/>
    <dynamics damping="0.3"/>
  </joint>
</robot>
