parallel-gripper/rbs_gripper/urdf/rbs_gripper.urdf

 <?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="rbs-gripper-description">
  <link
    name="Grip_Base">
    <inertial>
      <origin
        xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369"
        rpy="0 0 0" />
      <mass
        value="1.13983632906086" />
      <inertia
        ixx="0.00107738806534129"
        ixy="-1.09841172461737E-05"
        ixz="2.62750043451545E-06"
        iyy="0.000717388573992299"
        iyz="-2.95426438182787E-05"
        izz="0.00115777179755934" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rbs-gripper-description/meshes/visual/Grip_Base.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rbs-gripper-description/meshes/collision/Grip_Base.stl" />
      </geometry>
    </collision>
  </link>
  <link
    name="Grip_Rotator">
    <inertial>
      <origin
        xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793"
        rpy="0 0 0" />
      <mass
        value="0.161003401535982" />
      <inertia
        ixx="0.00011089089949771"
        ixy="5.01335040610636E-06"
        ixz="1.74608448389267E-14"
        iyy="0.000105515893695012"
        iyz="-2.03282362854432E-14"
        izz="0.000206912001661452" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rbs-gripper-description/meshes/visual/Grip_Rotator.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rbs-gripper-description/meshes/collision/Grip_Rotator.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="grip_rot"
    type="revolute">
    <origin
      xyz="0 0 0.10861"
      rpy="0 0 0" />
    <parent
      link="Grip_Base" />
    <child
      link="Grip_Rotator" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="0"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Gripper_1">
    <inertial>
      <origin
        xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166"
        rpy="0 0 0" />
      <mass
        value="0.0601996441483964" />
      <inertia
        ixx="4.18533281165612E-05"
        ixy="-7.11657995951147E-06"
        ixz="1.81029223490065E-05"
        iyy="7.89886367868258E-05"
        iyz="1.20542845942065E-05"
        izz="5.16740841307935E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rbs-gripper-description/meshes/visual/Gripper_1.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rbs-gripper-description/meshes/collision/Gripper_1.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="open_1"
    type="prismatic">
    <origin
      xyz="0 0 0.1071"
      rpy="0 0 1.5708" />
    <parent
      link="Grip_Rotator" />
    <child
      link="Gripper_1" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="0"
      upper="0.064"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Gripper_2">
    <inertial>
      <origin
        xyz="0.0039988 -0.077778 -0.01873"
        rpy="0 0 0" />
      <mass
        value="0.0602" />
      <inertia
        ixx="4.1853E-05"
        ixy="1.8103E-05"
        ixz="7.1166E-06"
        iyy="5.1674E-05"
        iyz="-1.2054E-05"
        izz="7.8989E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rbs-gripper-description/meshes/visual/Gripper_2.dae" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rbs-gripper-description/meshes/collision/Gripper_2.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="open_2"
    type="prismatic">
    <origin
      xyz="0 0 0.1071"
      rpy="1.5708 0 -1.5708" />
    <parent
      link="Grip_Rotator" />
    <child
      link="Gripper_2" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="0"
      upper="0.064"
      effort="0"
      velocity="0" />
  </joint>
</robot>