<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/bot/catkin_ws/src/cyton_gamma_1500_description/cyton_gamma_1500.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="cyton_gamma_1500" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="base_footprint">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.001"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
  </link>
  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/base.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0.0115 0.047"/>
      <geometry>
        <box size="0.154 0.177 0.094"/>
      </geometry>
    </collision>
  </link>
  <joint name="shoulder_roll_joint" type="revolute">
    <parent link="base_link"/>
    <child link="shoulder_roll"/>
    <origin rpy="0 0 0" xyz="0 0 0.05315"/>
    <limit effort="100.0" lower="-2.618" upper="2.618" velocity="1.0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="shoulder_roll">
    <visual>
      <origin rpy="1.5708 0 0.384" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/shoulder_roll.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.10"/>
      <geometry>
        <box size="0.09 0.07 0.12"/>
      </geometry>
    </collision>
  </link>
  <joint name="shoulder_pitch_joint" type="revolute">
    <parent link="shoulder_roll"/>
    <child link="shoulder_pitch"/>
    <origin rpy="0 0 0" xyz="0.0205 0 0.12435"/>
    <limit effort="100.0" lower="-1.8326" upper="1.8326" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <link name="shoulder_pitch">
    <visual>
      <origin rpy="1.5708 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/shoulder_pitch.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.02 0.0 0.1"/>
      <geometry>
        <box size="0.07 0.09 0.14"/>
      </geometry>
    </collision>
  </link>
  <joint name="shoulder_yaw_joint" type="revolute">
    <parent link="shoulder_pitch"/>
    <child link="shoulder_yaw"/>
    <origin rpy="0 0 0" xyz="-0.0215 -0.0205 0.1255"/>
    <limit effort="100.0" lower="-1.8326" upper="1.8326" velocity="1.0"/>
    <axis xyz="0 -1 0"/>
  </joint>
  <link name="shoulder_yaw">
    <visual>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 0.0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/shoulder_yaw.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.02 0.10"/>
      <geometry>
        <box size="0.085 0.065 0.12"/>
      </geometry>
    </collision>
  </link>
  <joint name="elbow_pitch_joint" type="revolute">
    <parent link="shoulder_yaw"/>
    <child link="elbow_pitch"/>
    <origin rpy="0 0 0" xyz="0.018 0.0206 0.1158"/>
    <limit effort="100.0" lower="-1.8326" upper="1.8326" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <link name="elbow_pitch">
    <visual>
      <origin rpy="1.5708 0 3.1416" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/elbow_pitch.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.015 0.005 0.09"/>
      <geometry>
        <box size="0.055 0.08 0.095"/>
      </geometry>
    </collision>
  </link>
  <joint name="elbow_yaw_joint" type="revolute">
    <parent link="elbow_pitch"/>
    <child link="elbow_yaw"/>
    <origin rpy="0 0 0" xyz="-0.0171 -0.018 0.09746"/>
    <limit effort="100.0" lower="-1.8326" upper="1.8326" velocity="1.0"/>
    <axis xyz="0 -1 0"/>
  </joint>
  <link name="elbow_yaw">
    <visual>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/elbow_yaw.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.015 0.07"/>
      <geometry>
        <box size="0.055 0.055 0.065"/>
      </geometry>
    </collision>
  </link>
  <joint name="wrist_pitch_joint" type="revolute">
    <parent link="elbow_yaw"/>
    <child link="wrist_pitch"/>
    <origin rpy="0 0 0" xyz="0.02626 0.018 0.0718"/>
    <limit effort="100.0" lower="-1.8326" upper="1.8326" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <link name="wrist_pitch">
    <visual>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/wrist_pitch.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0257 0.0118 0.0"/>
      <geometry>
        <box size="0.026 0.0435 0.05185"/>
      </geometry>
    </collision>
  </link>
  <joint name="wrist_roll_joint" type="revolute">
    <parent link="wrist_pitch"/>
    <child link="wrist_roll"/>
    <origin rpy="0 0 0" xyz="-0.026255 0 0.12865"/>
    <limit effort="100.0" lower="-2.61799" upper="2.61799" velocity="1.0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="wrist_roll">
    <visual>
      <origin rpy="3.1416 0 -1.5708" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/wrist_roll.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.01 0.03"/>
      <geometry>
        <box size="0.06 0.06 0.095"/>
      </geometry>
    </collision>
  </link>
  <joint name="gripper_joint" type="prismatic">
    <parent link="wrist_roll"/>
    <child link="gripper_finger1"/>
    <origin rpy="0 0 0" xyz="-0.01331 0.00485 0.077225"/>
    <limit effort="100.0" lower="-0.008" upper="0.008" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <link name="gripper_finger1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/gripper_finger1.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.005 0.01 0.02"/>
      <geometry>
        <box size="0.015 0.015 0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="gripper_joint2" type="prismatic">
    <parent link="wrist_roll"/>
    <child link="gripper_finger2"/>
    <origin rpy="0 0 0" xyz="0.0098 0.00485 0.077225"/>
    <limit effort="100.0" lower="-0.008" upper="0.008" velocity="1.0"/>
    <mimic joint="gripper_joint" multiplier="-1"/>
    <axis xyz="1 0 0"/>
  </joint>
  <link name="gripper_finger2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cyton_gamma_1500_description/meshes/gripper_finger2.dae"/>
      </geometry>
    </visual>
    <!--collision>
      <origin xyz="0.005 0.01 0.02"/>
      <geometry>
        <box size="0.015 0.015 0.03"/>
      </geometry>
    </collision-->
  </link>
  <!-- virtual end-effector -->
  <joint name="virtual_endeffector_joint" type="fixed">
    <parent link="wrist_roll"/>
    <child link="virtual_endeffector"/>
    <origin rpy="0 0 0" xyz="-0.002316 0.0079 0.079425"/>
  </joint>
  <link name="virtual_endeffector">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.0005"/>
      <geometry>
        <sphere radius="0.002"/>
      </geometry>
      <material name="grey">
        <color rgba="0.7 0.7 0.7 0.8"/>
      </material>
    </visual>
  </link>
</robot>
