<?xml version="1.0" ?>
<sdf version='1.6'>
  <world name='default'>
  <model name='wsg50_with_gripper'>
    <pose>0 0 0.27 3.14 0 0</pose>
	
    <link name='world'>
	</link>
  
    <joint name='base_joint' type='prismatic'>
      <parent>world</parent>
      <child>base_link</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-0.5</lower>
          <upper>10</upper>
          <effort>1</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>100</damping>
          <friction>100</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>

    <link name='base_link'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>1.2</mass>
        <inertia>
          <ixx>1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1</iyy>
          <iyz>0</iyz>
          <izz>1</izz>
        </inertia>
      </inertial>
      <collision name='base_link_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
		<box>
              <size>0.2 0.05 0.05 </size>
            </box>
        </geometry>
      </collision>
      <visual name='base_link_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>meshes/WSG50_110.stl</uri>
          </mesh>
        </geometry>
        <material>

        </material>
      </visual>
      <gravity>1</gravity>
      <velocity_decay/>
      <self_collide>0</self_collide>
    </link>

    <link name='gripper_left'>
      <pose>-0.055 0 0 0 -0 0</pose>
      <inertial>
        <pose>0 0 0.0115 0 -0 0</pose>
        <mass>0.2</mass>
        <inertia>
          <ixx>0.1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.1</iyy>
          <iyz>0</iyz>
          <izz>0.1</izz>
        </inertia>
      </inertial>
	  
      <collision name='gripper_left_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>meshes/GUIDE_WSG50_110.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
        <pose>0 0 0.023 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>meshes/WSG-FMF.stl</uri>
          </mesh>
        </geometry>
      </collision>
	  
      <visual name='gripper_left_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>meshes/GUIDE_WSG50_110.stl</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
        <pose>0 0 0.023 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>meshes/WSG-FMF.stl</uri>
          </mesh>
        </geometry>
      </visual>

    </link>
    <joint name='base_joint_gripper_left' type='prismatic'>
      <child>gripper_left</child>
      <parent>base_link</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.001</lower>
          <upper>0.055</upper>
          <effort>1</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>100</damping>
          <friction>100</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
	
    <link name='gripper_right'>
      <pose>0.055 0 0 0 -0 3.14159</pose>
      <inertial>
        <pose>0 0 0.0115 0 -0 0</pose>
        <mass>0.2</mass>
        <inertia>
          <ixx>0.1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.1</iyy>
          <iyz>0</iyz>
          <izz>0.1</izz>
        </inertia>
      </inertial>
	  
      <collision name='gripper_right_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>meshes/GUIDE_WSG50_110.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
        <pose>0 0 0.023 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>meshes/WSG-FMF.stl</uri>
          </mesh>
        </geometry>
      </collision>
	  
      <visual name='gripper_right_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>meshes/GUIDE_WSG50_110.stl</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
        <pose>0 0 0.023 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>0.001 0.001 0.001</scale>
            <uri>meshes/WSG-FMF.stl</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
	
    <joint name='base_joint_gripper_right' type='prismatic'>
      <child>gripper_right</child>
      <parent>base_link</parent>
      <axis>
        <xyz>-1 0 0</xyz>
        <limit>
          <lower>-0.055</lower>
          <upper>0.001</upper>
          <effort>1</effort>
          <velocity>1</velocity>
        </limit>
        <dynamics>
          <damping>100</damping>
          <friction>100</friction>
          <spring_reference>0</spring_reference>
          <spring_stiffness>0</spring_stiffness>
        </dynamics>
      </axis>
    </joint>
    
    <link name='finger_right'>
      <contact>
        <lateral_friction>1.0</lateral_friction>
        <spinning_friction>1.5</spinning_friction>
      </contact>
      <pose>0.062 0 0.145 0 0 1.5708</pose>
      <inertial>
        <mass>0.2</mass>
        <inertia>
          <ixx>0.1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.1</iyy>
          <iyz>0</iyz>
          <izz>0.1</izz>
        </inertia>
      </inertial>
	  
      <collision name='finger_right_collision'>
	<pose>0 0 0.042 0 0 0 </pose>
	<geometry>        
       <box>
              <size>0.02 0.02 0.15 </size>
            </box>

        </geometry>
      </collision>
	  
      <visual name='finger_right_visual'>
        <pose>0 0 0 0 0 0 </pose>
        <geometry>
          <mesh>
            <scale>1 1 1 </scale>
            <uri>meshes/l_gripper_tip_scaled.stl</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
	
    <joint name='gripper_finger_right' type='fixed'>
      <parent>gripper_right</parent>
      <child>finger_right</child>
    </joint>
    
    <link name='finger_left'>
      <contact>
        <lateral_friction>1.0</lateral_friction>
        <spinning_friction>1.5</spinning_friction>
      </contact>
      <pose>-0.062 0 0.145 0 0 4.71239</pose>
      <inertial>
        <mass>0.2</mass>
        <inertia>
          <ixx>0.1</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.1</iyy>
          <iyz>0</iyz>
          <izz>0.1</izz>
        </inertia>
      </inertial>
	  
      <collision name='finger_left_collision'>
        <pose>0 0 0.042 0 0 0 </pose>
        <geometry>
               <box>
              <size>0.02 0.02 0.15 </size>
            </box>

        </geometry>
      </collision>
	  
      <visual name='finger_left_visual'>
        <pose>0 0 0 0 0 0 </pose>
        <geometry>
          <mesh>
            <scale>1 1 1 </scale>
            <uri>meshes/l_gripper_tip_scaled.stl</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
	
    <joint name='gripper_finger_left' type='fixed'>
      <parent>gripper_left</parent>
      <child>finger_left</child>
    </joint>
  </model>
</world>
</sdf>
