<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
    <xacro:property name="width" value=".2" />
    <link name="base">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 0 0 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base-mm.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 0 0 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint1">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
            </geometry>
            <origin xyz="0 0 -0.0035 " rpy="0 0 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J1-mm.dae" />
            </geometry>
            <origin xyz="0 0 -0.0035 " rpy=" 0 0 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint2">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
            </geometry>
            <origin xyz="0 0 0.00 " rpy=" 0 0 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J2-mm.dae" />
            </geometry>
            <origin xyz="0 0 0.00 " rpy=" 0 0 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint3">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
            </geometry>
            <origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J3-mm.dae" />
            </geometry>
            <origin xyz="0 0 0.009 " rpy=" 0 3.14159 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint4">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
            </geometry>
            <origin xyz="0 0 0.003 " rpy=" 0 0 0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J4-mm.dae" />
            </geometry>
            <origin xyz="0 0 0.003 " rpy=" 0 0 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint5">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J5-mm.dae" />
            </geometry>
            <origin xyz="0 0 0 " rpy=" 0 3.14159 3.14159" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="joint6">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
            </geometry>
            <origin xyz="0.0 0 0" rpy=" 0 1.5707  0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/J6-mm.dae" />
            </geometry>
            <origin xyz="0.0 0 0" rpy=" 0 1.5707  0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="tool1">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae" />
            </geometry>
            <origin xyz="0.0 0 0" rpy=" -1.5706 0  0" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool1-mm.dae" />
            </geometry>
            <origin xyz="0.0 0 0" rpy=" -1.5706 0  0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="tool2">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae" />
            </geometry>
            <origin xyz="0.0 0 0" rpy=" 0 0  -1.5706" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/tool2-mm.dae" />
            </geometry>
            <origin xyz="0.0 0 0" rpy=" 0 0  -1.5706" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <!-- <link name="gripper_base">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae" />
            </geometry>
            <origin xyz="-0.02 0.0 0.05 " rpy=" 0 -1.5706 3.14159" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/gp-base-mm.dae" />
            </geometry>
            <origin xyz="-0.02 0.0 0.05 " rpy=" 0 -1.5706 3.14159" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="gripper_left1">
        <visual>
            <geometry>
               
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L1-mm.dae" />
            </geometry>
            <origin xyz="0.0 0.0 0.0 " rpy=" 0 0 -0.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L1-mm.dae" />
            </geometry>
            <origin xyz="0.0 0.0 0.0 " rpy=" 0 0 -0.5708" />
        </collision>
        
    </link>
    <link name="gripper_left2">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L2-mm.dae" />
            </geometry>
            <origin xyz="0.0 0.0 0.0 " rpy=" 0 -1.5706 3.14159" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L2-mm.dae" />
            </geometry>
            <origin xyz="0.0 0.0 0.0 " rpy=" 0 -1.5706 3.14159" />
        </collision>
        
    </link>
    <link name="gripper_left3">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L3-mm.dae" />
            </geometry>
            <origin xyz="0.0 -0.0025 -0.0045 " rpy=" 0 3.14159 -1.9408" />
            
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/L3-mm.dae" />
            </geometry>
            <origin xyz="0.0 -0.0025 -0.0045 " rpy=" 0 3.14159 -1.9408" />
        </collision>
        
    </link> -->
    <!-- <link name="gripper_right1">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R1-mm.dae" />
            </geometry>
            <origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R1-mm.dae" />
            </geometry>
            <origin xyz="-0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="gripper_right2">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R2-mm.dae" />
            </geometry>
            <origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R2-mm.dae" />
            </geometry>
            <origin xyz="-0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="gripper_right3">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R3-mm.dae" />
            </geometry>
            <origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/R3-mm.dae" />
            </geometry>
            <origin xyz="-0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link> -->
    <link name="gripper_base">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
            </geometry>
            <origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
        </visual>
        <collision>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
            </geometry>
            <origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="gripper_left1">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
            </geometry>
            <origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
            </geometry>
            <origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="gripper_left2">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
            </geometry>
            <origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
            </geometry>
            <origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="gripper_left3">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
            </geometry>
            <origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
            <!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
            </geometry>
            <origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="gripper_right1">
        <visual>
            <geometry>
                <!--- 0.0 0 -0.04 -->
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
            </geometry>
            <origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
            </geometry>
            <origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="gripper_right2">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
            </geometry>
            <origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
            </geometry>
            <origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <link name="gripper_right3">
        <visual>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
            </geometry>
            <origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
            </geometry>
            <origin xyz="0.0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <joint name="joint1_to_base" type="revolute">
        <axis xyz="0 0 -1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
        <parent link="base" />
        <child link="joint1" />
        <origin xyz="0 0 0.16034" rpy="0 0 0" />
    </joint>
    <joint name="joint2_to_joint1" type="revolute">
        <axis xyz="0 0 -1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
        <parent link="joint1" />
        <child link="joint2" />
        <origin xyz="0 0.06  0.038" rpy="1.5707 0 3.14159" />
    </joint>
    <joint name="joint3_to_joint2" type="revolute">
        <axis xyz=" 0 0 -1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
        <parent link="joint2" />
        <child link="joint3" />
        <origin xyz="0 0.2685 0   " rpy="0 0 0" />
    </joint>
    <joint name="joint4_to_joint3" type="revolute">
        <axis xyz=" 0 0 -1" />
        <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
        <parent link="joint3" />
        <child link="joint4" />
        <origin xyz="0 0.2663 0   " rpy="0 0 0" />
    </joint>
    <joint name="joint5_to_joint4" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
        <parent link="joint4" />
        <child link="joint5" />
        <origin xyz="0 0.055 0.039" rpy="1.5707 -1.5707 0" />
    </joint>
    <joint name="joint6_to_joint5" type="revolute">
        <axis xyz="1 0 0" />
        <limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
        <parent link="joint5" />
        <child link="joint6" />
        <origin xyz="0 0.04 -0.0385" rpy="-1.5707 0 1.5706 " />
    </joint>
    <joint name="joint6output_to_tool1" type="revolute">
        <axis xyz="0 1 0" />
        <limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
        <parent link="joint6" />
        <child link="tool1" />
        <origin xyz="0.0079 0.0 0.0" rpy="1.5708 -1.5706 3.14159" />
    </joint>
    <joint name="tool1_to_tool2" type="fixed">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
        <parent link="tool1" />
        <child link="tool2" />
        <origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
    </joint>
    <joint name="tool2_to_gripper_base" type="fixed">
        <axis xyz="0 0 -1" />
        <limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
        <parent link="tool2" />
        <child link="gripper_base" />
        <origin xyz="0.0 0.0 0.04" rpy="1.5706 0 1.5706" />
    </joint>
    <!-- <joint name="gripper_controller" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
        <parent link="gripper_base" />
        <child link="gripper_left3" />
        <origin xyz="-0.014 -0.016 0.06" rpy="0 -1.5706 0" />
    </joint>
    <joint name="gripper_base_to_gripper_left2" type="revolute">
        <axis xyz="-1 0 0" />
        <limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
        <parent link="gripper_base" />
        <child link="gripper_left2" />
        <origin xyz="-0.01 -0.03 0.118" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
    </joint>
    <joint name="gripper_left3_to_gripper_left1" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
        <parent link="gripper_left3" />
        <child link="gripper_left1" />
        <origin xyz="0.033 -0.051 -0.009" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
    </joint> -->
    <!-- <joint name="gripper_base_to_gripper_right3" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
        <parent link="gripper_base" />
        <child link="gripper_right3" />
        <origin xyz="0.018 0.016 0" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
    </joint>
    <joint name="gripper_base_to_gripper_right2" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
        <parent link="gripper_base" />
        <child link="gripper_right2" />
        <origin xyz="0.046 -0.01 0" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
    </joint>
    <joint name="gripper_right3_to_gripper_right1" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
        <parent link="gripper_right3" />
        <child link="gripper_right1" />
        <origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
    </joint> -->
    <joint name="gripper_controller" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
        <parent link="gripper_base" />
        <child link="gripper_left3" />
        <origin xyz="-0.018 0.016 0" rpy="0 0 0" />
    </joint>
    <joint name="gripper_base_to_gripper_left2" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
        <parent link="gripper_base" />
        <child link="gripper_left2" />
        <origin xyz="-0.05 -0.01 0" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
    </joint>
    <joint name="gripper_left3_to_gripper_left1" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
        <parent link="gripper_left3" />
        <child link="gripper_left1" />
        <origin xyz="-0.0356 0.051 -0.018" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
    </joint>
    <joint name="gripper_base_to_gripper_right3" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
        <parent link="gripper_base" />
        <child link="gripper_right3" />
        <origin xyz="0.018 0.016 0" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
    </joint>
    <joint name="gripper_base_to_gripper_right2" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
        <parent link="gripper_base" />
        <child link="gripper_right2" />
        <origin xyz="0.046 -0.01 0" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
    </joint>
    <joint name="gripper_right3_to_gripper_right1" type="revolute">
        <axis xyz="0 0 1" />
        <limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
        <parent link="gripper_right3" />
        <child link="gripper_right1" />
        <origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
        <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
    </joint>
    <transmission name="trans_joint1_to_base">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint1_to_base">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint1_to_base_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint2_to_joint1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint2_to_joint1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint2_to_joint1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint3_to_joint2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint3_to_joint2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint3_to_joint2_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint4_to_joint3">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint4_to_joint3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint4_to_joint3_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint5_to_joint4">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint5_to_joint4">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint5_to_joint4_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint6_to_joint5">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint6_to_joint5">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint6_to_joint5_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint6output_to_tool1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint6output_to_tool1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint6output_to_tool1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_gripper_controller">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="gripper_controller">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="gripper_controller_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_gripper_base_to_gripper_left2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="gripper_base_to_gripper_left2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="gripper_base_to_gripper_left2_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_gripper_left3_to_gripper_left1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="gripper_left3_to_gripper_left1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="gripper_left3_to_gripper_left1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_gripper_base_to_gripper_right3">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="gripper_base_to_gripper_right3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="gripper_base_to_gripper_right3_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_gripper_base_to_gripper_right2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="gripper_base_to_gripper_right2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="gripper_base_to_gripper_right2_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_gripper_right3_to_gripper_right1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="gripper_right3_to_gripper_right1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="gripper_right3_to_gripper_right1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace>/</robotNamespace>
        </plugin>
    </gazebo>
</robot>
