<?xml version="1.0"?>
<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="paraller_gripper" >
	
<xacro:property name="width" value=".2" />

  <link name="gripper_base">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_base.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " -1.5708 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_base.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="gripper_left">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_left.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0 " rpy = " -1.5708 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_left.dae"/>
      </geometry>
        <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="gripper_right">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_right.dae"/>
      </geometry>
    <origin xyz = "0 0 0 " rpy = " -1.5708 0 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/parallel_gripper/gripper_right.dae"/>
      </geometry>
        <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
    </collision>
  </link>


  <joint name="gripper_controller" type="prismatic">
    <axis xyz="1 0 0"/>
    <limit effort = "1000.0" lower = "-0.007" upper = "0.0" velocity = "0"/>
    <parent link="gripper_base"/>
    <child link="gripper_left"/>
    <origin xyz= "0.0 0 0" rpy = "0 0 0"/> 
  </joint>

  <joint name="gripper_base_to_gripper_left" type="prismatic">
    <axis xyz="1 0 0"/>
    <limit effort = "1000.0" lower = "-0.007" upper = "0.0" velocity = "0"/>
    <parent link="gripper_base"/>
    <child link="gripper_right"/>
    <origin xyz= "0 0.0 0" rpy = "0 0 0"/> 
    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
  </joint>
  
</robot>

