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Empty textures folder problem with URDF to PROTO conversion #174

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ozangungor12 opened this issue Jun 15, 2022 · 2 comments
Open

Empty textures folder problem with URDF to PROTO conversion #174

ozangungor12 opened this issue Jun 15, 2022 · 2 comments
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@ad-daniel

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@ozangungor12
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Hello,
I created a xacro file which combines UR5e + Robotiq 2f85 gripper and automatically generated the URDF from that.
I can display and move the robot and the gripper on RVIZ so the URDF file is okay.
When I'm trying to convert the model to a PROTO file to be able to use in Webots, I get the output ur5e_with_2f85.proto but the auto-generated textures folder is empty.
In my URDF file I am using ur5e and 2f85 descriptions from other ros packages in my workspace so my initial guess is that it could be a problem with relative paths. But the terminal output correctly displays the absoluth paths of the dae files that are being imported.

There are entries in the URDF such as:

<geometry>
   <mesh filename="package://ur_description/meshes/ur5e/visual/shoulder.dae"/>
 </geometry>

I do the conversion with:
python3 -m urdf2webots.importer --input=ur5e_with_2f85.urdf

And the output is:

Robot name: ur5e_with_2f85
Parsing Mesh: home/og/catkin_ws/src/universal_robot/ur_description/meshes/ur5e/visual/base.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/universal_robot/ur_description/meshes/ur5e/visual/shoulder.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/universal_robot/ur_description/meshes/ur5e/visual/upperarm.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/universal_robot/ur_description/meshes/ur5e/visual/forearm.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/universal_robot/ur_description/meshes/ur5e/visual/wrist1.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/universal_robot/ur_description/meshes/ur5e/visual/wrist2.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/universal_robot/ur_description/meshes/ur5e/visual/wrist3.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_finger.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_finger.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_finger.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_finger.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_finger.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_finger.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_finger.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_finger.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae
Parsing Mesh: /home/og/syn/adapt/adapt_ros/src/robotiq/robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae
Root link: world
There are 19 links, 18 joints and 0 sensors

Thank you in advance for any kind of help!
@ad-daniel
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Hi, which version of the tool did you use? The latest from pip or master/develop from the repo?
Also, would it be possible to have access to the urdf/meshes so as to be able to reproduce the issue?

@ad-daniel ad-daniel self-assigned this Jun 15, 2022
@ozangungor12
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ozangungor12 commented Jun 15, 2022 •
edited by omichel
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Hi Daniel,
I directly cloned it from git so the latest master. pip3 list shows: urdf2webots 1.0.18
mesh files are from the universal_robot and robotiq repositories:
https://github.com/fmauch/universal_robot/tree/calibration_devel/ur_description
https://github.com/jr-robotics/robotiq

The URDF file is here:

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ur5e_with_2f85.xacro           | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ur5e_with_2f85">
  <!--
    Base UR robot series xacro macro.

    NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
    (but note: that .xacro must still be processed by the xacro command).

    For use in '.launch' files: use one of the 'load_urX.launch' convenience
    launch files.

    This file models the base kinematic chain of a UR robot, which then gets
    parameterised by various configuration files to convert it into a UR3(e),
    UR5(e), UR10(e) or UR16e.

    NOTE: the default kinematic parameters (ie: link lengths, frame locations,
    offets, etc) do not correspond to any particular robot. They are defaults
    only. There WILL be non-zero offsets between the Forward Kinematics results
    in TF (ie: robot_state_publisher) and the values reported by the Teach
    Pendant.

    For accurate (and robot-specific) transforms, the 'kinematics_parameters_file'
    parameter MUST point to a .yaml file containing the appropriate values for
    the targetted robot.

    If using the UniversalRobots/Universal_Robots_ROS_Driver, follow the steps
    described in the readme of that repository to extract the kinematic
    calibration from the controller and generate the required .yaml file.

    Main author of the migration to yaml configs: Ludovic Delval.

    Contributors to previous versions (in no particular order):

     - Felix Messmer
     - Kelsey Hawkins
     - Wim Meeussen
     - Shaun Edwards
     - Nadia Hammoudeh Garcia
     - Dave Hershberger
     - G. vd. Hoorn
     - Philip Long
     - Dave Coleman
     - Miguel Prada
     - Mathias Luedtke
     - Marcel Schnirring
     - Felix von Drigalski
     - Felix Exner
     - Jimmy Da Silva
     - Ajit Krisshna N L
     - Muhammad Asif Rana
  -->
  <!--
    NOTE: the macro defined in this file is NOT part of the public API of this
          package. Users CANNOT rely on this file being available, or stored in
          this location. Nor can they rely on the existence of the macro.
  -->
  <transmission name="shoulder_pan_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_pan_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_pan_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="shoulder_lift_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_lift_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_lift_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="elbow_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="elbow_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="elbow_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_1_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_2_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_2_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_3_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_3_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- links: main serial chain -->
  <link name="base_link"/>
  <link name="base_link_inertia">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
    </inertial>
  </link>
  <link name="shoulder_link">
    <visual>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/visual/shoulder.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/collision/shoulder.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.7"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
    </inertial>
  </link>
  <link name="upper_arm_link">
    <visual>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/visual/upperarm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.138"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/collision/upperarm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="8.393"/>
      <origin rpy="0 1.5707963267948966 0" xyz="-0.2125 0.0 0.138"/>
      <inertia ixx="0.1338857818623325" ixy="0.0" ixz="0.0" iyy="0.1338857818623325" iyz="0.0" izz="0.0151074"/>
    </inertial>
  </link>
  <link name="forearm_link">
    <visual>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/visual/forearm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0.007"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/collision/forearm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.275"/>
      <origin rpy="0 1.5707963267948966 0" xyz="-0.1961 0.0 0.007"/>
      <inertia ixx="0.031209355099586295" ixy="0.0" ixz="0.0" iyy="0.031209355099586295" iyz="0.0" izz="0.004095"/>
    </inertial>
  </link>
  <link name="wrist_1_link">
    <visual>
      <!-- TODO: Move this to a parameter -->
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/visual/wrist1.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.127"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
    </inertial>
  </link>
  <link name="wrist_2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.0997"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/visual/wrist2.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0997"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0025598989760400002" ixy="0.0" ixz="0.0" iyy="0.0025598989760400002" iyz="0.0" izz="0.0021942"/>
    </inertial>
  </link>
  <link name="wrist_3_link">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/visual/wrist3.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 -0.0989"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist3.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1879"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0229"/>
      <inertia ixx="9.890410052167731e-05" ixy="0.0" ixz="0.0" iyy="9.890410052167731e-05" iyz="0.0" izz="0.0001321171875"/>
    </inertial>
  </link>
  <!-- joints: main serial chain -->
  <joint name="base_link-base_link_inertia" type="fixed">
    <parent link="base_link"/>
    <child link="base_link_inertia"/>
    <!-- 'base_link' is REP-103 aligned (so X+ forward), while the internal
           frames of the robot/controller have X+ pointing backwards.
           Use the joint between 'base_link' and 'base_link_inertia' (a dummy
           link/frame) to introduce the necessary rotation over Z (of pi rad).
      -->
    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
  </joint>
  <joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link_inertia"/>
    <child link="shoulder_link"/>
    <origin rpy="0 0 0" xyz="0 0 0.1625"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <origin rpy="0 0 0" xyz="-0.425 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-2.991592653589793" soft_upper_limit="2.991592653589793"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="wrist_1_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_1_link"/>
    <origin rpy="0 0 0" xyz="-0.3922 0 0.1333"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="wrist_2_joint" type="revolute">
    <parent link="wrist_1_link"/>
    <child link="wrist_2_link"/>
    <origin rpy="1.570796327 0 0" xyz="0 -0.0997 -2.044881182297852e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <joint name="wrist_3_joint" type="revolute">
    <parent link="wrist_2_link"/>
    <child link="wrist_3_link"/>
    <origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.0996 -2.042830148012698e-11"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
    <safety_controller k_position="20" k_velocity="0.0" soft_lower_limit="-6.133185307179586" soft_upper_limit="6.133185307179586"/>
    <dynamics damping="0" friction="0"/>
  </joint>
  <!-- ROS-Industrial 'base' frame: base_link to UR 'Base' Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base_fixed_joint" type="fixed">
    <!-- Note the rotation over Z of pi radians: as base_link is REP-103
           aligned (ie: has X+ forward, Y+ left and Z+ up), this is needed
           to correctly align 'base' with the 'Base' coordinate system of
           the UR controller.
      -->
    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
  <link name="flange"/>
  <joint name="wrist_3-flange" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="flange"/>
    <origin rpy="0 -1.5707963267948966 -1.5707963267948966" xyz="0 0 0"/>
  </joint>
  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
  <link name="tool0"/>
  <joint name="flange-tool0" type="fixed">
    <!-- default toolframe: X+ left, Y+ up, Z+ front -->
    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
    <parent link="flange"/>
    <child link="tool0"/>
  </joint>
  <transmission name="gripper_finger_joint_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="gripper_finger_joint">
      <hardwareInterface>hardware/interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="gripper_finger_joint_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- base link -->
  <link name="gripper_base_link"/>
  <joint name="gripper_base_link-gripper_robotiq_arg2f_base_link" type="fixed">
    <parent link="gripper_base_link"/>
    <child link="gripper_robotiq_arg2f_base_link"/>
  </joint>
  <link name="gripper_robotiq_arg2f_base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
      <mass value="0.22652"/>
      <inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_base_link.stl"/>
      </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_base_link.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_left_outer_knuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
      <mass value="0.00853198276973456"/>
      <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
    </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"/>
      </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_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_left_outer_finger">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
      <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"/>
    </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_finger.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_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_left_inner_finger">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
      <mass value="0.0104003125914103"/>
      <inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
    </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"/>
      </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_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_left_inner_finger_pad">
    <visual>
      <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 0.9 0.9 1"/>
      </material>
    </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="gripper_left_inner_knuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
      <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"/>
    </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_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="gripper_left_outer_finger_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
    <parent link="gripper_left_outer_knuckle"/>
    <child link="gripper_left_outer_finger"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="gripper_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 3.141592653589793" xyz="0 -0.0127 0.06142"/>
    <parent link="gripper_robotiq_arg2f_base_link"/>
    <child link="gripper_left_inner_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0" upper="0.8757" velocity="0.5"/>
    <mimic joint="gripper_finger_joint" multiplier="1" offset="0"/>
  </joint>
  <joint name="gripper_left_inner_finger_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
    <parent link="gripper_left_outer_finger"/>
    <child link="gripper_left_inner_finger"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.8757" upper="0" velocity="0.5"/>
    <mimic joint="gripper_finger_joint" multiplier="-1" offset="0"/>
  </joint>
  <joint name="gripper_left_inner_finger_pad_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
    <parent link="gripper_left_inner_finger"/>
    <child link="gripper_left_inner_finger_pad"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="gripper_finger_joint" type="revolute">
    <origin rpy="0 0 3.141592653589793" xyz="0 -0.0306011 0.054904"/>
    <parent link="gripper_robotiq_arg2f_base_link"/>
    <child link="gripper_left_outer_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0" upper="0.8" velocity="0.5"/>
  </joint>
  <joint name="gripper_right_outer_finger_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
    <parent link="gripper_right_outer_knuckle"/>
    <child link="gripper_right_outer_finger"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="gripper_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="gripper_robotiq_arg2f_base_link"/>
    <child link="gripper_right_inner_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0" upper="0.8757" velocity="0.5"/>
    <mimic joint="gripper_finger_joint" multiplier="1" offset="0"/>
  </joint>
  <joint name="gripper_right_inner_finger_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
    <parent link="gripper_right_outer_finger"/>
    <child link="gripper_right_inner_finger"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="-0.8757" upper="0" velocity="0.5"/>
    <mimic joint="gripper_finger_joint" multiplier="-1" offset="0"/>
  </joint>
  <joint name="gripper_right_inner_finger_pad_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
    <parent link="gripper_right_inner_finger"/>
    <child link="gripper_right_inner_finger_pad"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="gripper_right_outer_knuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331"/>
      <mass value="0.00853198276973456"/>
      <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
    </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"/>
      </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_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_right_outer_finger">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
      <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"/>
    </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_finger.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_outer_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_right_inner_finger">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257"/>
      <mass value="0.0104003125914103"/>
      <inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06"/>
    </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"/>
      </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_finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="gripper_right_inner_finger_pad">
    <visual>
      <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 0.9 0.9 1"/>
      </material>
    </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="gripper_right_inner_knuckle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
      <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"/>
    </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_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="gripper_right_finger_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
    <parent link="gripper_robotiq_arg2f_base_link"/>
    <child link="gripper_right_outer_knuckle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0" upper="0.81" velocity="0.5"/>
    <mimic joint="gripper_finger_joint" multiplier="1" offset="0"/>
  </joint>
  <!-- define the ur5's position and orientation in the world coordinate system -->
  <link name="world"/>
  <joint name="world_to_robot" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0"/>
  </joint>
  <joint name="robot_to_griper" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="gripper_base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0"/>
  </joint>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/</robotNamespace>
    </plugin>
  </gazebo>
</robot>

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