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	<?xml version="1.0" ?>
	<!-- =================================================================================== -->
	<!-- \| This document was autogenerated by xacro from simple_rq2f85_pybullet.urdf.xacro \| -->
	<!-- \| EDITING THIS FILE BY HAND IS NOT RECOMMENDED \| -->
	<!-- =================================================================================== -->
	<robot name="example" xmlns:xacro="http://ros.org/wiki/xacro">
	<material name="Blanc">
	<color rgba="1.0 1.0 1.0 1.0"/>
	</material>
	<link name="base_link">
	<origin xyz="0 0 0"/>
	<inertial>
	<mass value="0.001"/>
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
	</inertial>
	</link>
	<!-- base -->
	<joint name="base_link_robotiq_2f_85_base_joint" type="fixed">
	<origin rpy="0 0 0" xyz="0 0 0"/>
	<parent link="base_link"/>
	<child link="robotiq_2f_85_base"/>
	</joint>
	<link name="robotiq_2f_85_base">
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055"/>
	<inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/>
	</inertial>
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-base.obj" scale="0.1 0.1 0.1"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<!-- <collision>
	<geometry>
	<mesh filename="robotiq-2f-base.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision> -->
	</link>
	<!-- right finger -->
	<joint name="robotiq_2f_85_right_driver_joint" type="revolute">
	<origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
	<parent link="robotiq_2f_85_base"/>
	<child link="robotiq_2f_85_right_driver"/>
	<axis xyz="1 0 0"/>
	<limit effort="60" lower="0.0" upper="0.834" velocity="1.91986177778"/>
	</joint>
	<link name="robotiq_2f_85_right_driver">
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055"/>
	<inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/>
	</inertial>
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-driver.obj" scale="0.1 0.1 0.1"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<!-- <collision>
	<geometry>
	<mesh filename="robotiq-2f-driver.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision> -->
	</link>
	<joint name="robotiq_2f_85_right_coupler_joint" type="fixed">
	<origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
	<parent link="robotiq_2f_85_right_driver"/>
	<child link="robotiq_2f_85_right_coupler"/>
	</joint>
	<link name="robotiq_2f_85_right_coupler">
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055"/>
	<inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/>
	</inertial>
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-coupler.obj" scale="0.1 0.1 0.1"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<!-- <collision>
	<geometry>
	<mesh filename="robotiq-2f-coupler.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision> -->
	</link>
	<joint name="robotiq_2f_85_right_follower_joint" type="revolute">
	<origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
	<parent link="robotiq_2f_85_right_coupler"/>
	<child link="robotiq_2f_85_right_follower"/>
	<axis xyz="1 0 0"/>
	<limit effort="176" lower="-2.96705911111" upper="2.96705911111" velocity="1.91986177778"/>
	<mimic joint="robotiq_2f_85_right_driver_joint" multiplier="-1"/>
	</joint>
	<link name="robotiq_2f_85_right_follower">
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-follower.obj" scale="0.1 0.1 0.1"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<!-- <collision>
	<geometry>
	<mesh filename="robotiq-2f-follower.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision> -->
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055"/>
	<inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/>
	</inertial>
	</link>
	<joint name="robotiq_2f_85_right_pad_joint" type="fixed">
	<parent link="robotiq_2f_85_right_follower"/>
	<child link="robotiq_2f_85_right_pad"/>
	</joint>
	<link name="robotiq_2f_85_right_pad">
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055" />
	<inertia ixx="0.00019" iyy="0.00018" izz="0.00019" ixy="0" iyz="0" ixz="0"/>
	</inertial>
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-pad.stl" scale="0.0001 0.0001 0.0001"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<collision>
	<geometry>
	<mesh filename="robotiq-2f-pad.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision>
	</link>
	<joint name="robotiq_2f_85_right_spring_link_joint" type="revolute">
	<origin rpy="0 0 0" xyz="0 0.012 0.0614"/>
	<parent link="robotiq_2f_85_base"/>
	<child link="robotiq_2f_85_right_spring_link"/>
	<axis xyz="1 0 0"/>
	<limit effort="176" lower="-2.96705911111" upper="2.96705911111" velocity="1.91986177778"/>
	<mimic joint="robotiq_2f_85_right_driver_joint" multiplier="1"/>
	</joint>
	<link name="robotiq_2f_85_right_spring_link">
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055"/>
	<inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/>
	</inertial>
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-spring_link.obj" scale="0.1 0.1 0.1"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<!-- <collision>
	<geometry>
	<mesh filename="robotiq-2f-spring_link.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision> -->
	</link>
	<!-- left finger -->
	<joint name="robotiq_2f_85_left_driver_joint" type="revolute">
	<origin rpy="0 0 3.141592653589793" xyz="0 -0.0306011 0.054904"/>
	<parent link="robotiq_2f_85_base"/>
	<child link="robotiq_2f_85_left_driver"/>
	<axis xyz="1 0 0"/>
	<limit effort="176" lower="0.0" upper="0.834" velocity="1.91986177778"/>
	<mimic joint="robotiq_2f_85_right_driver_joint" multiplier="1"/>
	</joint>
	<link name="robotiq_2f_85_left_driver">
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055"/>
	<inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/>
	</inertial>
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-driver.obj" scale="0.1 0.1 0.1"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<!-- <collision>
	<geometry>
	<mesh filename="robotiq-2f-driver.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision> -->
	</link>
	<joint name="robotiq_2f_85_left_coupler_joint" type="fixed">
	<origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
	<parent link="robotiq_2f_85_left_driver"/>
	<child link="robotiq_2f_85_left_coupler"/>
	</joint>
	<link name="robotiq_2f_85_left_coupler">
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055"/>
	<inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/>
	</inertial>
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-coupler.obj" scale="0.1 0.1 0.1"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<!-- <collision>
	<geometry>
	<mesh filename="robotiq-2f-coupler.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision> -->
	</link>
	<joint name="robotiq_2f_85_left_follower_joint" type="revolute">
	<origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
	<parent link="robotiq_2f_85_left_coupler"/>
	<child link="robotiq_2f_85_left_follower"/>
	<axis xyz="1 0 0"/>
	<limit effort="176" lower="-2.96705911111" upper="2.96705911111" velocity="1.91986177778"/>
	<mimic joint="robotiq_2f_85_right_driver_joint" multiplier="-1"/>
	</joint>
	<link name="robotiq_2f_85_left_follower">
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-follower.obj" scale="0.1 0.1 0.1"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<!-- <collision>
	<geometry>
	<mesh filename="robotiq-2f-follower.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision> -->
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055"/>
	<inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/>
	</inertial>
	</link>
	<joint name="robotiq_2f_85_left_pad_joint" type="fixed">
	<parent link="robotiq_2f_85_left_follower"/>
	<child link="robotiq_2f_85_left_pad"/>
	</joint>
	<link name="robotiq_2f_85_left_pad">
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055" />
	<inertia ixx="0.00019" iyy="0.00018" izz="0.00019" ixy="0" iyz="0" ixz="0"/>
	</inertial>
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-pad.stl" scale="0.0001 0.0001 0.0001"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<collision>
	<geometry>
	<mesh filename="robotiq-2f-pad.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision>
	</link>
	<joint name="robotiq_2f_85_left_spring_link_joint" type="revolute">
	<origin rpy="0 0 3.141592653589793" xyz="0 -0.012 0.0614"/>
	<parent link="robotiq_2f_85_base"/>
	<child link="robotiq_2f_85_left_spring_link"/>
	<axis xyz="1 0 0"/>
	<limit effort="176" lower="-2.96705911111" upper="2.96705911111" velocity="1.91986177778"/>
	<mimic joint="robotiq_2f_85_right_driver_joint" multiplier="1"/>
	</joint>
	<link name="robotiq_2f_85_left_spring_link">
	<inertial>
	<mass value="0.1"/>
	<origin xyz="0 0 0.055"/>
	<inertia ixx="0.000190833333333" ixy="0" ixz="0" iyy="0.00018" iyz="0" izz="0.000190833333333"/>
	</inertial>
	<visual>
	<geometry>
	<mesh filename="robotiq-2f-spring_link.obj" scale="0.1 0.1 0.1"/>
	</geometry>
	<material name="Blanc"/>
	</visual>
	<!-- <collision>
	<geometry>
	<mesh filename="robotiq-2f-spring_link.stl" scale="0.001 0.001 0.001"/>
	</geometry>
	</collision> -->
	</link>
	<transmission name="robotiq_2f_85_right_driver_trans">
	<type>transmission_interface/SimpleTransmission</type>
	<joint name="robotiq_2f_85_right_driver_joint">
	<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
	</joint>
	<actuator name="robotiq_2f_85_right_driver_motor">
	<mechanicalReduction>1</mechanicalReduction>
	</actuator>
	</transmission>
	</robot>