2,29c2
< <robot name="robotiq_arg2f_85" xmlns:xacro="http://ros.org/wiki/xacro">
< 
<   <xacro:include filename="$(find robotiq_2f_85_gripper_visualization)/urdf/robotiq_arg2f_transmission.xacro" />
< 
<   <xacro:macro name="robotiq_arg2f_base_link" params="prefix">
<     <link name="${prefix}robotiq_arg2f_base_link">
<       <inertial>
<         <origin xyz="8.625E-08 -4.6583E-06 0.03145" rpy="0 0 0" />
<         <mass value="0.22652" />
<         <inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478" />
<       </inertial>
<       <visual>
<         <origin xyz="0 0 0" rpy="0 0 0" />
<         <geometry>
<           <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_base_link.stl" scale="0.001 0.001 0.001"/>
<         </geometry>
<         <material name="">
<           <color rgba="0.1 0.1 0.1 1" />
<         </material>
<       </visual>
<       <collision>
<         <origin xyz="0 0 0" rpy="0 0 0" />
<         <geometry>
<            <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_base_link.stl" />
<         </geometry>
<       </collision>
<     </link>
<   </xacro:macro>
---
> <robot name="robotiq_arg2f_140" xmlns:xacro="http://ros.org/wiki/xacro">
30a4,30
>   <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f_transmission.xacro" />
>  
>   <xacro:macro name="robotiq_arg2f_base_link" params="prefix">
>       <link name="${prefix}robotiq_arg2f_base_link">
>         <inertial>
>           <origin xyz="8.625E-08 -4.6583E-06 0.03145" rpy="0 0 0" />
>           <mass value="0.22652" />
>           <inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478" />
>         </inertial>
>         <visual>
>           <origin xyz="0 0 0" rpy="0 0 0" />
>           <geometry>
>             <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_base_link.stl" />
>           </geometry>
>           <material name="">
>             <color rgba="0.1 0.1 0.1 1" />
>           </material>
>         </visual>
>         <collision>
>           <origin xyz="0 0 0" rpy="0 0 0" />
>           <geometry>
>             <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_base_link.stl" />
>           </geometry>
>         </collision>
>       </link>
>     </xacro:macro>
>     
36,37c36,43
<         <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
<         </inertial> 
---
>         <inertia
>             ixx="2.89328108496468E-06"
>             ixy="-1.57935047237397E-19"
>             ixz="-1.93980378593255E-19"
>             iyy="1.86719750325683E-06"
>             iyz="-1.21858577871576E-06"
>             izz="1.21905238907251E-06" />
>       </inertial>
41c47
<           <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
---
>           <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
50c56
<           <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
---
>           <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
61,62c67,74
<         <inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05" />
<         </inertial> 
---
>         <inertia
>             ixx="1.52518312458174E-05"
>             ixy="9.76583423954399E-10"
>             ixz="-5.43838577022588E-10"
>             iyy="6.17694243867776E-06"
>             iyz="6.78636130740228E-06"
>             izz="1.16494917907219E-05" />
>       </inertial>
66c78
<           <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
---
>           <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_outer_finger.stl" />
75c87
<           <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
---
>           <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_outer_finger.stl" />
85,87c97,105
<        <mass value="0.0271177346495152" />
<         <inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05" />
<         </inertial> 
---
>         <mass value="0.0271177346495152" />
>         <inertia
>             ixx="2.61910379223783E-05"
>             ixy="-2.43616858946494E-07"
>             ixz="-6.37789906117123E-09"
>             iyy="2.8270243746167E-06"
>             iyz="-5.37200748039765E-07"
>             izz="2.83695868220296E-05" />
>       </inertial>
91c109
<           <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
---
>           <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
100c118
<           <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
---
>           <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
111,112c129,136
<         <inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06" />
<         </inertial> 
---
>         <inertia
>             ixx="2.71909453810972E-06"
>             ixy="1.35402465472579E-21"
>             ixz="-7.1817349065269E-22"
>             iyy="7.69100314106116E-07"
>             iyz="6.74715432769696E-07"
>             izz="2.30315190420171E-06" />
>       </inertial>
116c140
<           <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
---
>           <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/visual/robotiq_arg2f_${stroke}_inner_finger.stl" />
125c149
<           <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001" />
---
>           <mesh filename="package://robotiq_2f_140_gripper_visualization/meshes/collision/robotiq_arg2f_${stroke}_inner_finger.stl" />
129,147d152
<     
<     
<     <gazebo reference="${prefix}${fingerprefix}_inner_finger">
<       <mu1>1e2</mu1>
<       <mu2>1e2</mu2>
<       <kp>1e6.0</kp>
<       <kd>1e5.0</kd>
<       <slip1>0</slip1>
<      <slip2>0</slip2>
<      <minDepth>0.0</minDepth>
<      <maxVel>0.01</maxVel>
<      <torsional>
<         <coefficient>1e2</coefficient>
<         <ode>
<             <slip>0</slip>
<         </ode>
<     </torsional>
<     </gazebo>
<     
150c155
<    <!-- Finger pad link, the default are the "big pads" with rubber-->
---
>   <!-- Finger pad link, the default are the "big pads" with rubber-->
156c161
<           <box size="0.022 0.00635 0.0375"/>
---
>           <box size="0.027 0.065 0.0075"/>
162c167
<       <collision name="${prefix}${fingerprefix}_inner_finger_pad_collision">
---
>       <collision>
165c170
<            <box size="0.022 0.00635 0.0375"/>
---
>            <box size="0.03 0.07 0.0075"/>
171d175
< 
173,176c177,188
<     
<     <gazebo reference="${prefix}${fingerprefix}_inner_finger_pad">
<       <sensor name="${prefix}${fingerprefix}_inner_finger_pad_bumper" type="contact">
<           <selfCollide>true</selfCollide>
---
>   </xacro:macro>
> 
>   <gazebo reference="${prefix}${fingerprefix}_inner_finger_pad">
>     <sensor name="${prefix}${fingerprefix}_inner_finger_pad_bumper" type="contact">
>         <selfCollide>true</selfCollide>
>         <alwaysOn>true</alwaysOn>
>         <updateRate>5.0</updateRate>
>         <contact>
>            <collision>${prefix}${fingerprefix}_inner_finger_pad_collision_collision_1</collision>
>         </contact>
>         
>         <plugin name="${prefix}${fingerprefix}_inner_finger_pad_bumper_controller" filename="libgazebo_ros_bumper.so">
179,192c191,196
<           <contact>
<              <collision>${prefix}${fingerprefix}_inner_finger_pad_collision_collision_1</collision>
<           </contact>
<           
<           <plugin name="${prefix}${fingerprefix}_inner_finger_pad_bumper_controller" filename="libgazebo_ros_bumper.so">
<             <alwaysOn>true</alwaysOn>
<             <updateRate>5.0</updateRate>
<             <bumperTopicName>${prefix}${fingerprefix}_inner_finger_pad_bumper</bumperTopicName>
<             <frameName>world</frameName>
<           </plugin>
<       </sensor>
<     </gazebo>
<     
<   </xacro:macro>
---
>           <bumperTopicName>${prefix}${fingerprefix}_inner_finger_pad_bumper</bumperTopicName>
>           <frameName>world</frameName>
>         </plugin>
>     </sensor>
>   </gazebo>
> 
196c200
<       <origin xyz="0 0.0315 -0.0041" rpy="0 0 0"/>
---
>       <origin xyz="0 0.01821998610742 0.0260018192872234" rpy="0 0 0" />
205,206c209
<       <!-- <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" /> -->
<       <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="0 0 ${(1 + reflect) * pi / 2}"/>
---
>       <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" />
210,211c213,214
<       <limit lower="0" upper="0.8757" velocity="1.0" effort="1e2" />
<       <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
---
>       <limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
>       <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
217c220
<       <origin xyz="0 0.0061 0.0471" rpy="0 0 0"/>
---
>       <origin xyz="0 0.0817554015893473 -0.0282203446692936" rpy="-0.725 0 0" />
221,222c224,225
<       <limit lower="-0.8757" upper="0" velocity="1.0" effort="1e2" />
<       <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
---
>       <limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
>       <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
228c231
<       <origin xyz="0 -0.0220203446692936 0.03242" rpy="0 0 0"/>
---
>       <origin xyz="0 0.0457554015893473 -0.0272203446692936" rpy="0 0 0" />
234c237,239
<   
---
> 
>   <xacro:include filename="$(find robotiq_2f_140_gripper_visualization)/urdf/robotiq_arg2f.xacro" />
> 
237c242
<       <origin xyz="0 -0.0306011 0.054904" rpy="0 0 ${pi}"/>
---
>       <origin xyz="0 -0.030601 0.054905" rpy="${pi / 2 + .725} 0 0" />
240,241c245,246
<       <axis xyz="1 0 0" />
<       <limit lower="0" upper="0.8" velocity="1.0" effort="1e2" />
---
>       <axis xyz="-1 0 0" />
>       <limit lower="0" upper="0.7" velocity="2.0" effort="1000" />
248c253
<       <origin xyz="0 0.0306011 0.054904" rpy="0 0 0"/>
---
>       <origin xyz="0 0.030601 0.054905" rpy="${pi / 2 + .725} 0 ${pi}" />
252,254c257,258
<       <limit lower="0" upper="0.81" velocity="1.0" effort="1e2" />
< 
<       <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
---
>       <limit lower="0" upper="0.725" velocity="2.0" effort="1000" />
>     <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
273,275c277,278
< 
<   <!-- Initialization of all joints and links -->
<   <xacro:macro name="robotiq_arg2f_85" params="prefix">
---
>   
>   <xacro:macro name="robotiq_arg2f_140" params="prefix">
277,278c280,281
<     <xacro:finger_links prefix="${prefix}" fingerprefix="left" stroke="85"/>
<     <xacro:finger_links prefix="${prefix}" fingerprefix="right" stroke="85"/>
---
>     <xacro:finger_links prefix="${prefix}" fingerprefix="left" stroke="140"/>
>     <xacro:finger_links prefix="${prefix}" fingerprefix="right" stroke="140"/>
