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<?xml version="1.0"?>
<robot name="bravo7_gripper">
<material name="green">
<color rgba="0.235 0.702 0.443 1"/>
</material>
<material name="blue">
<color rgba="0.263 0.733 0.984 1"/>
</material>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<material name="black">
<color rgba="0.8 0.8 0.8 1"/>
</material>
<material name="orange">
<color rgba="1 0.369 0.047 1"/>
</material>
<link name="link1">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-266.stl"/>
</geometry>
<material name="blue"/>
</visual>
<inertial>
<mass value="1.25"/>
<origin xyz="-0.075 -0.006 -0.003"/>
<inertia ixx="0.002108" ixy="0.000182" ixz="-0.000015" iyy="0.002573" iyz="-0.000021" izz="0.003483"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-266_convex_hull.stl"/>
</geometry>
</collision>
</link>
<joint name="joint1" type="continuous">
<parent link="link1"/>
<child link="link2"/>
<origin rpy="3.141592654 0 0" xyz="0.0665 0 0.078"/>
<axis xyz="0 0 1"/>
</joint>
<link name="link2">
<visual>
<origin xyz="0 0 0" rpy="-3.141592654 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-217.stl"/>
</geometry>
<material name="green"/>
</visual>
<inertial>
<mass value="1.55" />
<inertia ixx="0.011442" ixy="-0.000484" ixz="0.003405" iyy="0.01298" iyz="-0.001265" izz="0.003202"/>
<origin xyz="0.005 -0.001 0.016" rpy="-3.141592654 0 0"/>
<origin xyz="0 0 0" rpy="-3.141592654 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-217_convex_hull.stl"/>
</geometry>
</collision>
</link>
<joint name="joint2" type="revolute">
<parent link="link2"/>
<child link="link3"/>
<origin rpy="3.141592654 0 0" xyz="-0.046 0 -0.0674"/>
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<axis xyz="0 1 0"/>
<limit effort="9.0" lower="0.0" upper="3.5" velocity="0.5"/>
</joint>
<link name="link3">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-250-212-214.stl"/>
</geometry>
<material name="blue"/>
</visual>
<inertial>
<mass value="1.14" />
<origin xyz="0.022 -0.029 0.001" />
<inertia ixx="0.003213" ixy="-0.001548" ixz="-0.000031" iyy="0.002327" iyz="0.000006" izz="0.00434"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-250-212-214_convex_hull.stl"/>
</geometry>
</collision>
</link>
<joint name="joint3" type="revolute">
<parent link="link3"/>
<child link="link4"/>
<origin rpy="0 0 0" xyz="-0.0052 0 -0.29055"/>
<axis xyz="0 1 0"/>
<limit effort="9.0" lower="0.0" upper="3.5" velocity="0.5"/>
</joint>
<link name="link4">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-268.stl"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-268_convex_hull.stl"/>
</geometry>
<material name="green"/>
</collision>
<inertial>
<origin xyz="0.017 -0.026 -0.002" rpy="0.0 -0.0 0.0" />
<mass value="1.14" />
<inertia ixx="0.021232" ixy="0.00033" ixz="-0.003738" iyy="0.022252" iyz="-0.001278" izz="0.002054"/>
</inertial>
</link>
<joint name="joint4" type="continuous">
<parent link="link4"/>
<child link="link5"/>
<origin rpy="3.141592654 0 0" xyz="0.0408 0 0.09695"/>
<axis xyz="0 0 1"/>
</joint>
<link name="link5">
<visual>
<origin xyz="0 0 0" rpy="-3.141592654 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-214.stl"/>
</geometry>
<material name="blue"/>
</visual>
<inertial>
<mass value="1.03" />
<origin xyz="0.020 -0.024 0.001" rpy="-3.141592654 0 0"/>
![pre-commit-ci[bot]'s avatar](https://secure.gravatar.com/avatar/f525bdd2a10270e5e152aca52c5c7b36f07cbfa3807d761df7e81af1cc28c3aa?s=72&d=identicon "pre-commit-ci[bot]")
<inertia ixx="0.00243" ixy="-0.001144" ixz="-0.00004" iyy="0.002026" iyz="0.000011" izz="0.00333"/>
<origin xyz="0 0 0" rpy="-3.141592654 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-214_convex_hull.stl"/>
</geometry>
</collision>
</link>
<joint name="joint5" type="revolute">
<parent link="link5"/>
<child link="link6"/>
<origin rpy="3.141592654 0 0" xyz="-0.0408 0 -0.063"/>
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<axis xyz="0 1 0"/>
<limit effort="9.0" lower="0.0" upper="3.5" velocity="0.5"/>
</joint>
<link name="link6">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-161.stl"/>
</geometry>
<material name="green"/>
</visual>
<inertial>
<origin xyz="0.0 0.003 -0.098" rpy="0.0 -0.0 0.0" />
<mass value="0.333" />
<inertia ixx="0.003709" ixy="-0.000002" ixz="-0.000004" iyy="0.003734" iyz="0.0" izz="0.000079" />
</inertial>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-161_convex_hull.stl"/>
</geometry>
</collision>
</link>
<joint name="joint6" type="continuous">
<parent link="link6"/>
<child link="link7"/>
<origin rpy="0 3.14159 0" xyz="-0.0408 0 -0.14863"/>
<axis xyz="0 0 1"/>
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</joint>
<link name="link7">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-180.stl"/>
</geometry>
<material name="blue"/>
</visual>
<inertial>
<origin xyz="0.0 0.003 -0.098" />
<mass value="1.04" />
<inertia ixx="0.022359" ixy="0.000001" ixz="-0.000019" iyy="0.022363" iyz="0.000015" izz="0.000936"/>
</inertial>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/RS2-180_convex_hull.stl"/>
</geometry>
</collision>
</link>
<link name="force_torque_sensor">
<visual>
<geometry>
<cylinder length="0.06" radius="0.04"/>
</geometry>
<material name="orange"/>
</visual>
<collision>
<geometry>
<cylinder length="0.06" radius="0.04"/>
</geometry>
<material name="orange"/>
</collision>
</link>
<joint name="FT_fixed_1" type="fixed">
<origin rpy="0 0 1.57" xyz=" 0 0 -0.03"/>
<parent link="link7"/>
<child link="force_torque_sensor"/>
</joint>
<joint name="bravo_finger_jaws_joint" type="fixed">
<parent link="link7"/>
<child link="bravo_finger_jaws_base_link" />
<origin rpy="3.14 0 0" xyz=" 0.0 0 0.132"/>
</joint>
<link name="bravo_finger_jaws_base_link">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/end_effectors/RS2-257.stl"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<geometry>
<cylinder length="0.02" radius="0.05"/>
</geometry>
<origin xyz="0.01 0 0.00" rpy="0 1.5707 0"/>
</collision>
</link>
<link name="bravo_finger1_link">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/end_effectors/RS2-300.stl"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<geometry>
<box size="0.14 0.04 0.045"/>
</geometry>
<origin xyz="0.07 0.025 0.00" rpy="0 0 0.35"/>
</collision>
</link>
<joint name="bravo_finger1_joint" type="revolute">
<origin xyz="0.0 -0.033 0" rpy="0 1.57 0"/>
<parent link="bravo_finger_jaws_base_link"/>
<child link="bravo_finger1_link"/>
<axis xyz="0 0 -1"/>
<limit lower="0" upper="1.0" effort="10" velocity="10"/>
</joint>
<link name="bravo_finger2_link">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/bravo7_description/meshes/end_effectors/RS2-301.stl"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<geometry>
<box size="0.14 0.04 0.045"/>
</geometry>
<origin xyz="0.07 -0.025 0.00" rpy="0 0 -0.35"/>
</collision>
</link>
<joint name="bravo_finger2_joint" type="revolute">
<origin xyz="0 0.033 0" rpy="0 1.57 0"/>
<parent link="bravo_finger_jaws_base_link"/>
<child link="bravo_finger2_link"/>
<axis xyz="0 0 1"/>
<limit lower="0" upper="1.0" effort="10" velocity="10"/>
</joint>
<link name="grasping_poing"/>
<joint name="grasping_point_joint" type="fixed">
<parent link="link7"/>
<child link="grasping_poing" />
<origin rpy="3.14 0 0" xyz=" 0.0 0 0.175"/>
</joint>
</robot>