<?xml version="1.0"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from planar_gripper.xacro           | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<sdf version="1.7">
  <model name="planar_gripper">
    <link name="finger1_base">
      <visual name="base_visual">
        <geometry>
          <box>
            <size>0.08 0.08 0.008</size>
          </box>
        </geometry>
        <material>
          <diffuse>0.1 0.1 0.1 1</diffuse>
        </material>
      </visual>
    </link>
    <link name="finger1_link1">
      <inertial>
        <pose>0 0 -0.0425 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.0083</ixx>
          <iyy>0.0083</iyy>
          <izz>5e-7</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="link1_visual">
        <pose>0 0 -0.0425 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.085</length>
            <radius>0.011</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>1 0 0 1</diffuse>
        </material>
      </visual>
      <visual name="link1_joint_visual">
        <pose>0 0 -0.085 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.0132</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>.1 .1 .1 1</diffuse>
        </material>
      </visual>
    </link>
    <joint name="finger1_BaseJoint" type="revolute">
      <child>finger1_link1</child>
      <parent>finger1_base</parent>
      <axis>
        <xyz expressed_in="__model__">1 0 0</xyz>
        <limit>
          <!-- Drake parses a zero effort joint as an un-actuated joint. -->
          <effort>75</effort>
          <lower>-1.57</lower>
          <upper>1.57</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
      </axis>
    </joint>
    <link name="finger1_link2">
      <!-- The origin of the link2 frame is located at the MidJoint. -->
      <pose>0 0 -0.085 0 0 0</pose>
      <inertial>
        <pose>0 0 -0.0299 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.0083</ixx>
          <iyy>0.0083</iyy>
          <izz>5e-7</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="link2_visual">
        <pose>0 0 -0.02 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.04</length>
            <radius>0.011</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>1 0 0 1</diffuse>
        </material>
      </visual>
      <!--The link 2 collision element extends up to (but not including) the
            sphere fingertip-->
      <collision name="link2_collision">
        <pose>0 0 -0.0299 0 0 0</pose>
        <geometry>
          <box>
            <size> 0.022 0.022 0.0598 </size>
          </box>
        </geometry>
      </collision>
      <visual name="sensor_visual">
        <pose>0 0 -0.0425 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.02 0.005</size>
          </box>
        </geometry>
        <material>
          <diffuse>.8 .8 .8 1</diffuse>
        </material>
      </visual>
    </link>
    <joint name="finger1_MidJoint" type="revolute">
      <parent>finger1_link1</parent>
      <child>finger1_link2</child>
      <!-- Pose X_CJ of the joint frame J in the frame C of the child link -->
      <axis>
        <xyz expressed_in="__model__">1 0 0</xyz>
        <limit>
          <effort>75</effort>
          <lower>-1.57</lower>
          <upper>1.57</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
      </axis>
    </joint>
    <!-- The tip link's mass/inertia values are already included in link 2,
           which welds to this link. Hence, the values here are set to be
           (effectively) zero. Note: This fingertip link and its corresponding
           weld joint allows us to sense forces via MBP's reaction forces
           output port. -->
    <link name="finger1_tip_link">
      <pose>0 0 -0.13 0 0 0</pose>
      <inertial>
        <pose>0 0 -0.0074 0 0 0</pose>
        <mass>1e-7</mass>
        <inertia>
          <ixx>1e-7</ixx>
          <iyy>1e-7</iyy>
          <izz>1e-7</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="tip_adapter_visual">
        <pose>0 0 -0.00565 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0113</length>
            <radius>0.0145</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>.3 .3 .3 1</diffuse>
        </material>
      </visual>
      <visual name="tip_cylinder_visual">
        <pose>0 0 -0.01305 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0035</length>
            <radius>0.01</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>.3 .3 .3 1</diffuse>
        </material>
      </visual>
      <visual name="tip_sphere_visual">
        <pose>0 0 -0.0263 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>1 1 1 1</diffuse>
        </material>
      </visual>
      <collision name="tip_sphere_collision">
        <pose>0 0 -0.0263 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
      </collision>
    </link>
    <joint name="finger1_sensor_weldjoint" type="fixed">
      <parent>finger1_link2</parent>
      <child>finger1_tip_link</child>
    </joint>
    <link name="finger2_base">
      <visual name="base_visual">
        <geometry>
          <box>
            <size>0.08 0.08 0.008</size>
          </box>
        </geometry>
        <material>
          <diffuse>0.1 0.1 0.1 1</diffuse>
        </material>
      </visual>
    </link>
    <link name="finger2_link1">
      <inertial>
        <pose>0 0 -0.0425 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.0083</ixx>
          <iyy>0.0083</iyy>
          <izz>5e-7</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="link1_visual">
        <pose>0 0 -0.0425 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.085</length>
            <radius>0.011</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>1 0 0 1</diffuse>
        </material>
      </visual>
      <visual name="link1_joint_visual">
        <pose>0 0 -0.085 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.0132</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>.1 .1 .1 1</diffuse>
        </material>
      </visual>
    </link>
    <joint name="finger2_BaseJoint" type="revolute">
      <child>finger2_link1</child>
      <parent>finger2_base</parent>
      <axis>
        <xyz expressed_in="__model__">1 0 0</xyz>
        <limit>
          <!-- Drake parses a zero effort joint as an un-actuated joint. -->
          <effort>75</effort>
          <lower>-1.57</lower>
          <upper>1.57</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
      </axis>
    </joint>
    <link name="finger2_link2">
      <!-- The origin of the link2 frame is located at the MidJoint. -->
      <pose>0 0 -0.085 0 0 0</pose>
      <inertial>
        <pose>0 0 -0.0299 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.0083</ixx>
          <iyy>0.0083</iyy>
          <izz>5e-7</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="link2_visual">
        <pose>0 0 -0.02 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.04</length>
            <radius>0.011</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>1 0 0 1</diffuse>
        </material>
      </visual>
      <!--The link 2 collision element extends up to (but not including) the
            sphere fingertip-->
      <collision name="link2_collision">
        <pose>0 0 -0.0299 0 0 0</pose>
        <geometry>
          <box>
            <size> 0.022 0.022 0.0598 </size>
          </box>
        </geometry>
      </collision>
      <visual name="sensor_visual">
        <pose>0 0 -0.0425 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.02 0.005</size>
          </box>
        </geometry>
        <material>
          <diffuse>.8 .8 .8 1</diffuse>
        </material>
      </visual>
    </link>
    <joint name="finger2_MidJoint" type="revolute">
      <parent>finger2_link1</parent>
      <child>finger2_link2</child>
      <!-- Pose X_CJ of the joint frame J in the frame C of the child link -->
      <axis>
        <xyz expressed_in="__model__">1 0 0</xyz>
        <limit>
          <effort>75</effort>
          <lower>-1.57</lower>
          <upper>1.57</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
      </axis>
    </joint>
    <!-- The tip link's mass/inertia values are already included in link 2,
           which welds to this link. Hence, the values here are set to be
           (effectively) zero. Note: This fingertip link and its corresponding
           weld joint allows us to sense forces via MBP's reaction forces
           output port. -->
    <link name="finger2_tip_link">
      <pose>0 0 -0.13 0 0 0</pose>
      <inertial>
        <pose>0 0 -0.0074 0 0 0</pose>
        <mass>1e-7</mass>
        <inertia>
          <ixx>1e-7</ixx>
          <iyy>1e-7</iyy>
          <izz>1e-7</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="tip_adapter_visual">
        <pose>0 0 -0.00565 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0113</length>
            <radius>0.0145</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>.3 .3 .3 1</diffuse>
        </material>
      </visual>
      <visual name="tip_cylinder_visual">
        <pose>0 0 -0.01305 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0035</length>
            <radius>0.01</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>.3 .3 .3 1</diffuse>
        </material>
      </visual>
      <visual name="tip_sphere_visual">
        <pose>0 0 -0.0263 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>1 1 1 1</diffuse>
        </material>
      </visual>
      <collision name="tip_sphere_collision">
        <pose>0 0 -0.0263 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
      </collision>
    </link>
    <joint name="finger2_sensor_weldjoint" type="fixed">
      <parent>finger2_link2</parent>
      <child>finger2_tip_link</child>
    </joint>
    <link name="finger3_base">
      <visual name="base_visual">
        <geometry>
          <box>
            <size>0.08 0.08 0.008</size>
          </box>
        </geometry>
        <material>
          <diffuse>0.1 0.1 0.1 1</diffuse>
        </material>
      </visual>
    </link>
    <link name="finger3_link1">
      <inertial>
        <pose>0 0 -0.0425 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.0083</ixx>
          <iyy>0.0083</iyy>
          <izz>5e-7</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="link1_visual">
        <pose>0 0 -0.0425 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.085</length>
            <radius>0.011</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>1 0 0 1</diffuse>
        </material>
      </visual>
      <visual name="link1_joint_visual">
        <pose>0 0 -0.085 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.0132</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>.1 .1 .1 1</diffuse>
        </material>
      </visual>
    </link>
    <joint name="finger3_BaseJoint" type="revolute">
      <child>finger3_link1</child>
      <parent>finger3_base</parent>
      <axis>
        <xyz expressed_in="__model__">1 0 0</xyz>
        <limit>
          <!-- Drake parses a zero effort joint as an un-actuated joint. -->
          <effort>75</effort>
          <lower>-1.57</lower>
          <upper>1.57</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
      </axis>
    </joint>
    <link name="finger3_link2">
      <!-- The origin of the link2 frame is located at the MidJoint. -->
      <pose>0 0 -0.085 0 0 0</pose>
      <inertial>
        <pose>0 0 -0.0299 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.0083</ixx>
          <iyy>0.0083</iyy>
          <izz>5e-7</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="link2_visual">
        <pose>0 0 -0.02 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.04</length>
            <radius>0.011</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>1 0 0 1</diffuse>
        </material>
      </visual>
      <!--The link 2 collision element extends up to (but not including) the
            sphere fingertip-->
      <collision name="link2_collision">
        <pose>0 0 -0.0299 0 0 0</pose>
        <geometry>
          <box>
            <size> 0.022 0.022 0.0598 </size>
          </box>
        </geometry>
      </collision>
      <visual name="sensor_visual">
        <pose>0 0 -0.0425 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.02 0.005</size>
          </box>
        </geometry>
        <material>
          <diffuse>.8 .8 .8 1</diffuse>
        </material>
      </visual>
    </link>
    <joint name="finger3_MidJoint" type="revolute">
      <parent>finger3_link1</parent>
      <child>finger3_link2</child>
      <!-- Pose X_CJ of the joint frame J in the frame C of the child link -->
      <axis>
        <xyz expressed_in="__model__">1 0 0</xyz>
        <limit>
          <effort>75</effort>
          <lower>-1.57</lower>
          <upper>1.57</upper>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
      </axis>
    </joint>
    <!-- The tip link's mass/inertia values are already included in link 2,
           which welds to this link. Hence, the values here are set to be
           (effectively) zero. Note: This fingertip link and its corresponding
           weld joint allows us to sense forces via MBP's reaction forces
           output port. -->
    <link name="finger3_tip_link">
      <pose>0 0 -0.13 0 0 0</pose>
      <inertial>
        <pose>0 0 -0.0074 0 0 0</pose>
        <mass>1e-7</mass>
        <inertia>
          <ixx>1e-7</ixx>
          <iyy>1e-7</iyy>
          <izz>1e-7</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="tip_adapter_visual">
        <pose>0 0 -0.00565 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0113</length>
            <radius>0.0145</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>.3 .3 .3 1</diffuse>
        </material>
      </visual>
      <visual name="tip_cylinder_visual">
        <pose>0 0 -0.01305 0 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.0035</length>
            <radius>0.01</radius>
          </cylinder>
        </geometry>
        <material>
          <diffuse>.3 .3 .3 1</diffuse>
        </material>
      </visual>
      <visual name="tip_sphere_visual">
        <pose>0 0 -0.0263 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>1 1 1 1</diffuse>
        </material>
      </visual>
      <collision name="tip_sphere_collision">
        <pose>0 0 -0.0263 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.015</radius>
          </sphere>
        </geometry>
      </collision>
    </link>
    <joint name="finger3_sensor_weldjoint" type="fixed">
      <parent>finger3_link2</parent>
      <child>finger3_tip_link</child>
    </joint>
  </model>
</sdf>
