<?xml version="1.0" encoding="UTF-8"?>

<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from
/home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/urdf/rbs_arm_modular.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="rbs_arm">
    <link name="world" />
    <joint name="base_link_joint" type="fixed">
        <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0" />
        <parent link="world" />
        <child link="base_link" />
    </joint>
    <link name="base_link">
        <collision name="base_link_collision">
            <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/start_link.stl"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </collision>
        <inertial>
            <inertia ixx="0.00503302470272442" ixy="0.000343817346410954"
                ixz="-4.74990755448368E-06" iyy="0.00337962410057753" iyz="-2.3099255620051E-05"
                izz="0.00405858207282473" />
            <origin rpy="0.00000 0.00000 0.00000"
                xyz="-0.000297002857922682 0.0964721185617698 -0.000361033370053684" />
            <mass value="1.88031044620482" />
        </inertial>
        <visual name="base_link_visual">
            <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="/start_link.dae"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </visual>
    </link>
    <gazebo reference="base_link">
        <visual>
            <material>
                <diffuse>0.8 0.8 0.8 1</diffuse>
                <specular>0.6 0.6 0.6 1</specular>
                <ambient>1.0 1.0 1.0</ambient>
                <lighting>true</lighting>
                <emissive>0 0 0 1</emissive>
                <pbr>
                    <metal>
                        <albedo_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_d.png</albedo_map>
                        <normal_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_n.png</normal_map>
                        <ambient_occlusion_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_ao.png</ambient_occlusion_map>
                        <roughness_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/base_link_r.png</roughness_map>
                    </metal>
                </pbr>
            </material>
        </visual>
    </gazebo>
    <joint name="fork0_link_joint" type="revolute">
        <limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52" />
        <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.17833" />
        <parent link="base_link" />
        <child link="fork0_link" />
        <axis xyz="0 0 1" />
    </joint>
    <link name="fork0_link">
        <collision name="fork0_link_collision">
            <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork_link.stl"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </collision>
        <inertial>
            <inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071"
                iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329" />
            <origin rpy="0.00000 0.00000 0.00000"
                xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575" />
            <mass value="1.12472202892859" />
        </inertial>
        <visual name="fork0_link_visual">
            <origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="/fork_link.dae"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </visual>
    </link>
    <ros2_control name="fork0_link_joint_hardware_interface" type="actuator">
        <hardware>
            <plugin>ign_ros2_control/IgnitionSystem</plugin>
        </hardware>
        <joint name="fork0_link_joint">
            <command_interface name="position">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <command_interface name="velocity">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <!-- WARN When this active a robot falls down -->
            <!-- <command_interface name="effort"/> -->
            <!-- <param name="p">${p}</param> -->
            <!-- <param name="d">${d}</param> -->
            <!-- <command_interface name="effort"/> -->
            <state_interface name="position" />
            <state_interface name="velocity" />
            <state_interface name="effort" />
        </joint>
    </ros2_control>
    <gazebo reference="fork0_link">
        <visual>
            <material>
                <diffuse>0.8 0.8 0.8 1</diffuse>
                <specular>0.6 0.6 0.6 1</specular>
                <ambient>1.0 1.0 1.0</ambient>
                <lighting>true</lighting>
                <emissive>0 0 0 1</emissive>
                <pbr>
                    <metal>
                        <albedo_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
                        <normal_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
                        <ambient_occlusion_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
                        <roughness_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
                    </metal>
                </pbr>
            </material>
        </visual>
    </gazebo>
    <joint name="main0_link_joint" type="revolute">
        <limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52" />
        <origin rpy="-0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09400" />
        <parent link="fork0_link" />
        <child link="main0_link" />
        <axis xyz="0 1 0" />
    </joint>
    <link name="main0_link">
        <collision name="main0_link_collision">
            <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/main_link.stl"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </collision>
        <inertial>
            <inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05"
                ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902"
                izz="0.00125534890134052" />
            <origin rpy="0.00000 0.00000 0.00000"
                xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805" />
            <mass value="1.58688811563124" />
        </inertial>
        <visual name="main0_link_visual">
            <origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="/main_link.dae"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </visual>
    </link>
    <ros2_control name="main0_link_joint_hardware_interface" type="actuator">
        <hardware>
            <plugin>ign_ros2_control/IgnitionSystem</plugin>
        </hardware>
        <joint name="main0_link_joint">
            <command_interface name="position">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <command_interface name="velocity">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <!-- WARN When this active a robot falls down -->
            <!-- <command_interface name="effort"/> -->
            <!-- <param name="p">${p}</param> -->
            <!-- <param name="d">${d}</param> -->
            <!-- <command_interface name="effort"/> -->
            <state_interface name="position" />
            <state_interface name="velocity" />
            <state_interface name="effort" />
        </joint>
    </ros2_control>
    <gazebo reference="main0_link">
        <visual>
            <material>
                <diffuse>0.8 0.8 0.8 1</diffuse>
                <specular>0.6 0.6 0.6 1</specular>
                <ambient>1.0 1.0 1.0</ambient>
                <lighting>true</lighting>
                <emissive>0 0 0 1</emissive>
                <pbr>
                    <metal>
                        <albedo_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_d.png</albedo_map>
                        <normal_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_n.png</normal_map>
                        <ambient_occlusion_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_ao.png</ambient_occlusion_map>
                        <roughness_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_r.png</roughness_map>
                    </metal>
                </pbr>
            </material>
        </visual>
    </gazebo>
    <joint name="fork1_link_joint" type="revolute">
        <limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52" />
        <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.13300" />
        <parent link="main0_link" />
        <child link="fork1_link" />
        <axis xyz="0 0 1" />
    </joint>
    <link name="fork1_link">
        <collision name="fork1_link_collision">
            <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork_link.stl"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </collision>
        <inertial>
            <inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071"
                iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329" />
            <origin rpy="0.00000 0.00000 0.00000"
                xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575" />
            <mass value="1.12472202892859" />
        </inertial>
        <visual name="fork1_link_visual">
            <origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="/fork_link.dae"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </visual>
    </link>
    <ros2_control name="fork1_link_joint_hardware_interface" type="actuator">
        <hardware>
            <plugin>ign_ros2_control/IgnitionSystem</plugin>
        </hardware>
        <joint name="fork1_link_joint">
            <command_interface name="position">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <command_interface name="velocity">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <!-- WARN When this active a robot falls down -->
            <!-- <command_interface name="effort"/> -->
            <!-- <param name="p">${p}</param> -->
            <!-- <param name="d">${d}</param> -->
            <!-- <command_interface name="effort"/> -->
            <state_interface name="position" />
            <state_interface name="velocity" />
            <state_interface name="effort" />
        </joint>
    </ros2_control>
    <gazebo reference="fork1_link">
        <visual>
            <material>
                <diffuse>0.8 0.8 0.8 1</diffuse>
                <specular>0.6 0.6 0.6 1</specular>
                <ambient>1.0 1.0 1.0</ambient>
                <lighting>true</lighting>
                <emissive>0 0 0 1</emissive>
                <pbr>
                    <metal>
                        <albedo_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
                        <normal_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
                        <ambient_occlusion_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
                        <roughness_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
                    </metal>
                </pbr>
            </material>
        </visual>
    </gazebo>
    <joint name="main1_link_joint" type="revolute">
        <limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52" />
        <origin rpy="-0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09400" />
        <parent link="fork1_link" />
        <child link="main1_link" />
        <axis xyz="0 1 0" />
    </joint>
    <link name="main1_link">
        <collision name="main1_link_collision">
            <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/main_link.stl"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </collision>
        <inertial>
            <inertia ixx="0.00315699373090845" ixy="2.84713820858537E-05"
                ixz="-7.01601261191721E-05" iyy="0.00343729241263707" iyz="-0.000101485203138902"
                izz="0.00125534890134052" />
            <origin rpy="0.00000 0.00000 0.00000"
                xyz="0.00186712264682627 -0.000412152188777604 0.0516389446895805" />
            <mass value="1.58688811563124" />
        </inertial>
        <visual name="main1_link_visual">
            <origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="/main_link.dae"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </visual>
    </link>
    <ros2_control name="main1_link_joint_hardware_interface" type="actuator">
        <hardware>
            <plugin>ign_ros2_control/IgnitionSystem</plugin>
        </hardware>
        <joint name="main1_link_joint">
            <command_interface name="position">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <command_interface name="velocity">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <!-- WARN When this active a robot falls down -->
            <!-- <command_interface name="effort"/> -->
            <!-- <param name="p">${p}</param> -->
            <!-- <param name="d">${d}</param> -->
            <!-- <command_interface name="effort"/> -->
            <state_interface name="position" />
            <state_interface name="velocity" />
            <state_interface name="effort" />
        </joint>
    </ros2_control>
    <gazebo reference="main1_link">
        <visual>
            <material>
                <diffuse>0.8 0.8 0.8 1</diffuse>
                <specular>0.6 0.6 0.6 1</specular>
                <ambient>1.0 1.0 1.0</ambient>
                <lighting>true</lighting>
                <emissive>0 0 0 1</emissive>
                <pbr>
                    <metal>
                        <albedo_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_d.png</albedo_map>
                        <normal_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_n.png</normal_map>
                        <ambient_occlusion_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_ao.png</ambient_occlusion_map>
                        <roughness_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/main_link_r.png</roughness_map>
                    </metal>
                </pbr>
            </material>
        </visual>
    </gazebo>
    <joint name="fork2_link_joint" type="revolute">
        <limit effort="78" lower="-6.14159" upper="6.14159" velocity="0.52" />
        <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.13300" />
        <parent link="main1_link" />
        <child link="fork2_link" />
        <axis xyz="0 0 1" />
    </joint>
    <link name="fork2_link">
        <collision name="fork2_link_collision">
            <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/fork_link.stl"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </collision>
        <inertial>
            <inertia ixx="0.00367804533572758" ixy="1.04277925521833E-05" ixz="-0.00149971410403071"
                iyy="0.00415208849477534" iyz="-0.00122" izz="0.00329" />
            <origin rpy="0.00000 0.00000 0.00000"
                xyz="0.0472051139085306 0.00208890925682996 0.0557265410642575" />
            <mass value="1.12472202892859" />
        </inertial>
        <visual name="fork2_link_visual">
            <origin rpy="0.00000 -0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="/fork_link.dae"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </visual>
    </link>
    <ros2_control name="fork2_link_joint_hardware_interface" type="actuator">
        <hardware>
            <plugin>ign_ros2_control/IgnitionSystem</plugin>
        </hardware>
        <joint name="fork2_link_joint">
            <command_interface name="position">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <command_interface name="velocity">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <!-- WARN When this active a robot falls down -->
            <!-- <command_interface name="effort"/> -->
            <!-- <param name="p">${p}</param> -->
            <!-- <param name="d">${d}</param> -->
            <!-- <command_interface name="effort"/> -->
            <state_interface name="position" />
            <state_interface name="velocity" />
            <state_interface name="effort" />
        </joint>
    </ros2_control>
    <gazebo reference="fork2_link">
        <visual>
            <material>
                <diffuse>0.8 0.8 0.8 1</diffuse>
                <specular>0.6 0.6 0.6 1</specular>
                <ambient>1.0 1.0 1.0</ambient>
                <lighting>true</lighting>
                <emissive>0 0 0 1</emissive>
                <pbr>
                    <metal>
                        <albedo_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_d.png</albedo_map>
                        <normal_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_n.png</normal_map>
                        <ambient_occlusion_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_ao.png</ambient_occlusion_map>
                        <roughness_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/fork_r.png</roughness_map>
                    </metal>
                </pbr>
            </material>
        </visual>
    </gazebo>
    <joint name="ee_link_joint" type="revolute">
        <limit effort="78" lower="-1.5708" upper="3.14159" velocity="0.52" />
        <origin rpy="0.00000 0.00000 0.00000" xyz="0.10000 0.00000 0.09473" />
        <parent link="fork2_link" />
        <child link="ee_link" />
        <axis xyz="0 1 0" />
    </joint>
    <joint name="tool0_joint" type="fixed">
        <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.11000" />
        <parent link="ee_link" />
        <child link="tool0" />
    </joint>
    <link name="tool0" />
    <link name="ee_link">
        <collision name="ee_link_collision">
            <origin rpy="-0.00000 0.00000 -0.00000" xyz="0.00000 -0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="file:///home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/meshes/collision/ee_link.stl"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </collision>
        <inertial>
            <inertia ixx="0.00147695259043549" ixy="-2.66894744420299E-05"
                ixz="-4.40871314563273E-05" iyy="0.00135500487881796" iyz="-3.19001462979333E-05"
                izz="0.00087582892706912" />
            <origin rpy="0.00000 0.00000 0.00000"
                xyz="-9.7531539777207E-06 -0.000888494418875867 0.0342332199538358" />
            <mass value="1.88031044620482" />
        </inertial>
        <visual name="ee_link_visual">
            <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.00000 0.00000" />
            <geometry>
                <mesh
                    filename="/ee_link.dae"
                    scale="1.00000 1.00000 1.00000" />
            </geometry>
        </visual>
    </link>
    <ros2_control name="ee_link_joint_hardware_interface" type="actuator">
        <hardware>
            <plugin>ign_ros2_control/IgnitionSystem</plugin>
        </hardware>
        <joint name="ee_link_joint">
            <command_interface name="position">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <command_interface name="velocity">
                <!-- <param name="min">-1</param> -->
                <!-- <param name="max">1</param> -->
            </command_interface>
            <!-- WARN When this active a robot falls down -->
            <!-- <command_interface name="effort"/> -->
            <!-- <param name="p">${p}</param> -->
            <!-- <param name="d">${d}</param> -->
            <!-- <command_interface name="effort"/> -->
            <state_interface name="position" />
            <state_interface name="velocity" />
            <state_interface name="effort" />
        </joint>
    </ros2_control>
    <gazebo reference="ee_link">
        <visual>
            <material>
                <diffuse>0.8 0.8 0.8 1</diffuse>
                <specular>0.6 0.6 0.6 1</specular>
                <ambient>1.0 1.0 1.0</ambient>
                <lighting>true</lighting>
                <emissive>0 0 0 1</emissive>
                <pbr>
                    <metal>
                        <albedo_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_d.png</albedo_map>
                        <normal_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_n.png</normal_map>
                        <ambient_occlusion_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_ao.png</ambient_occlusion_map>
                        <roughness_map>
                            /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/materials/textures/ee_link_r.png</roughness_map>
                    </metal>
                </pbr>
            </material>
        </visual>
    </gazebo>
    <!-- END robot description -->
    <ros2_control name="rbs_gripper_gazebo" type="system">
        <!-- Plugins -->
        <hardware>
            <plugin>ign_ros2_control/IgnitionSystem</plugin>
        </hardware>
        <!-- Joint interfaces -->
        <joint name="rbs_gripper_rot_base_joint">
            <state_interface name="position">
                <param name="initial_value">0.000</param>
            </state_interface>
            <command_interface name="position" />
            <command_interface name="velocity" />
            <!-- <command_interface name="effort"/> -->
            <state_interface name="velocity" />
            <state_interface name="effort" />
        </joint>
        <joint name="rbs_gripper_r_finger_joint">
            <state_interface name="position">
                <param name="initial_value">0.004</param>
            </state_interface>
            <command_interface name="position" />
            <command_interface name="velocity" />
            <!-- <command_interface name="effort"/> -->
            <state_interface name="velocity" />
            <state_interface name="effort" />
        </joint>
        <joint name="rbs_gripper_l_finger_joint">
            <param name="mimic">rbs_gripper_r_finger_joint</param>
            <param name="multiplier">1</param>
        </joint>
    </ros2_control>
    <transmission name="rbs_gripper_rot_base_joint_transmission">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="rbs_gripper_rot_base_joint">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="rbs_gripper_rot_base_joint_actuator">
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <joint name="rbs_gripper_gripper_base_joint" type="fixed">
        <origin rpy="0 0 0" xyz="0 0 0" />
        <parent link="tool0" />
        <child link="rbs_gripper_gripper_base_link" />
    </joint>
    <link name="rbs_gripper_gripper_base_link">
        <inertial>
            <origin rpy="0 0 0" xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369" />
            <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 rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <mesh
                    filename="/base.dae" />
            </geometry>
            <material name="rbs_gripper_material">
                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <mesh
                    filename="/base.stl" />
            </geometry>
        </collision>
    </link>
    <link name="rbs_gripper_rot_base_link">
        <inertial>
            <origin rpy="0 0 0" xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793" />
            <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 rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <mesh
                    filename="/rotor.dae" />
            </geometry>
            <material name="rbs_gripper_material">
                <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <mesh
                    filename="/rotor.stl" />
            </geometry>
        </collision>
    </link>
    <joint name="rbs_gripper_rot_base_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 0.10861" />
        <parent link="rbs_gripper_gripper_base_link" />
        <child link="rbs_gripper_rot_base_link" />
        <axis xyz="0 0 1" />
        <limit effort="78" lower="-3.14159" upper="3.14159" velocity="0.52" />
    </joint>
    <link name="rbs_gripper_l_finger_link">
        <inertial>
            <origin rpy="0 0 0" xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166" />
            <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 rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <mesh
                    filename="/finger.dae" />
            </geometry>
            <material name="rbs_gripper_material">
                <color rgba="0.752941176470588 0 0 1" />
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <mesh
                    filename="/finger.stl" />
            </geometry>
        </collision>
    </link>
    <joint name="rbs_gripper_l_finger_joint" type="prismatic">
        <origin rpy="0 0 1.5708" xyz="0 0 0.1071" />
        <parent link="rbs_gripper_rot_base_link" />
        <child link="rbs_gripper_l_finger_link" />
        <axis xyz="-1 0 0" />
        <limit effort="10" lower="0" upper="0.064" velocity="0.53" />
        <mimic joint="rbs_gripper_r_finger_joint" multiplier="1" />
    </joint>
    <link name="rbs_gripper_r_finger_link">
        <inertial>
            <origin rpy="0 0 0" xyz="0.0039988 -0.077778 -0.01873" />
            <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 rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <mesh
                    filename="/finger.dae" />
            </geometry>
            <material name="rbs_gripper_material">
                <color rgba="0.75294 0 0 1" />
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <geometry>
                <mesh
                    filename="/finger.stl" />
            </geometry>
        </collision>
    </link>
    <joint name="rbs_gripper_r_finger_joint" type="prismatic">
        <origin rpy="0 0 -1.5708" xyz="0 0 0.1071" />
        <parent link="rbs_gripper_rot_base_link" />
        <child link="rbs_gripper_r_finger_link" />
        <axis xyz="-1 0 0" />
        <limit effort="10" lower="0" upper="0.064" velocity="0.53" />
    </joint>
    <link name="gripper_grasp_point" />
    <joint name="rbs_gripper_gripper_tool0_joint" type="fixed">
        <origin rpy="0 0 0" xyz="0 0 0.09139" />
        <parent link="rbs_gripper_rot_base_link" />
        <child link="gripper_grasp_point" />
    </joint>
    <gazebo reference="rbs_gripper_rot_base_link">
        <self_collide>1</self_collide>
        <!-- <soft_contact> -->
        <!--   <dart> -->
        <!--     <bone_attachment>100</bone_attachment> -->
        <!--     <stiffness>100</stiffness> -->
        <!--     <damping>10</damping> -->
        <!--     <flesh_mass_fraction>0.050000000000000003</flesh_mass_fraction> -->
        <!--   </dart> -->
        <!-- </soft_contact> -->
    </gazebo>
    <gazebo reference="rbs_gripper_l_finger_link">
        <self_collide>1</self_collide>
        <!-- <soft_contact> -->
        <!--   <dart> -->
        <!--     <bone_attachment>100</bone_attachment> -->
        <!--     <stiffness>100</stiffness> -->
        <!--     <damping>10</damping> -->
        <!--     <flesh_mass_fraction>0.050000000000000003</flesh_mass_fraction> -->
        <!--   </dart> -->
        <!-- </soft_contact> -->
    </gazebo>
    <gazebo reference="rbs_gripper_r_finger_link">
        <self_collide>1</self_collide>
        <!-- <soft_contact> -->
        <!--   <dart> -->
        <!--     <bone_attachment>100</bone_attachment> -->
        <!--     <stiffness>100</stiffness> -->
        <!--     <damping>10</damping> -->
        <!--     <flesh_mass_fraction>0.050000000000000003</flesh_mass_fraction> -->
        <!--   </dart> -->
        <!-- </soft_contact> -->
    </gazebo>
    <ros2_control name="fts_sensor" type="sensor">
        <hardware>
            <plugin>ign_ros2_control/IgnitionFts</plugin>
        </hardware>
        <sensor name="fts_sensor">
            <state_interface name="force.x" />
            <state_interface name="force.y" />
            <state_interface name="force.z" />
            <state_interface name="torque.x" />
            <state_interface name="torque.y" />
            <state_interface name="torque.z" />
        </sensor>
    </ros2_control>
    <gazebo reference="tool0_joint">
        <preserveFixedJoint>true</preserveFixedJoint>
        <sensor name="fts_sensor" type="force_torque">
            <always_on>true</always_on>
            <update_rate>50</update_rate>
            <visualize>true</visualize>
            <topic>ft_data</topic>
            <force_torque>
                <frame>sensor</frame>
                <measure_direction>child_to_parent</measure_direction>
            </force_torque>
        </sensor>
    </gazebo>
    <gazebo>
        <plugin filename="libign_ros2_control-system.so"
            name="ign_ros2_control::IgnitionROS2ControlPlugin">
            <parameters>
                /home/bill-finger/rbs_ws/install/rbs_arm/share/rbs_arm/config/rbs_arm0_controllers.yaml</parameters>
            <ros>
                <namespace>/arm0</namespace>
            </ros>
        </plugin>
    </gazebo>
</robot>