simpler_env assets: upload robots/widowx (native SimplerEnv integration)

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-1-Base.mtl

@@ -0,0 +1,13 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.018
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-1-Base.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:cfd94392082cbb3ca3d4f6ced9ae27597bd8ee7d82713d10c73b243279b0a6e5
+size 90132

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-1-Base.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:69facd590abff70fa03431497ead2c7f1aabe616d55af594288e9bf36b1fd067
+size 75584

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-10-Finger.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.027
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-10-Finger.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:aaaa946a04923ed31cc452550aefbd8c6165dba08af32cec817deed4250be550
+size 20005

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-10-Finger.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6a459bd4ef07eb5c4687e258bd9564004e741437e2e668af7ed31964567d8f90
+size 22284

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-2-Shoulder.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.019
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-2-Shoulder.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b6ff150e48076e245141e68c036243f963187d908542bac51e3013e362333c8c
+size 63364

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-2-Shoulder.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:337b4cb7e9b637ee3dca6a737becf831fe5f95b790b34f9a97e5cf11475fc222
+size 61884

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-3-UA.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.020
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-3-UA.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:ad13e1481995bc99952ee434698abeef4390cf68ee82268f6a6dfead53502c03
+size 76630

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-3-UA.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b4550b3a79e83d0ca9e1a65e490ff4e25b667e8a7d8e94bab441851c96eb11fa
+size 70484

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-4-UF.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.021
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-4-UF.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:83c41227a1f9e042689c71afd6768f66d1bded8b6a37bbdfc5077c50edaf0e08
+size 30040

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-4-UF.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1a64efc97dc129bc277afee75c129de27721e8fedcad45a4ec8b251f44542f23
+size 30084

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-5-LF.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.022
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-5-LF.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb06c5d045c35b5b9b5502fff6ea3d5c593807438cd9650030c039cd957f55e
+size 162813

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-5-LF.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1445950b7f5ce2cf374b98711df296acd6c2b4df24c3937b413bcb6beb037603
+size 149084

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-6-Wrist.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.023
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-6-Wrist.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:163c6045e6721c2775b9aec2a69b07da6f7cd91006d347fb5666d2aeb1398bb9
+size 54720

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-6-Wrist.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8602fe1313765caceec64faff5ec919ec09c57c614b87f1c1c625dcef1e3df5a
+size 57684

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-7-Gripper.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.024
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-7-Gripper.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b2693bc6796375200996371c98ebce3cb9e28dfc79419fdd920e8558e2c0eaa6
+size 16025

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-7-Gripper.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:6dbc189d3787ca62e09a8cf3f928ceca70c5c184a95c97ac6587805aa6a1ec6d
+size 17684

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-8-Gripper-Prop.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.025
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-8-Gripper-Prop.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:bc3b29d50690231542cdd7cfdb111a260e98abf02f5ef2bb91f4c69c2e00cd6d
+size 21989

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-8-Gripper-Prop.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:30fcd807817b7c9df6275d2c8100cfe0e7786e2c65b574d22efe177520f1a316
+size 22684

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-9-Gripper-Bar.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material.026
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ../interbotix_black.png

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-9-Gripper-Bar.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:e184d13326b0fa6c082936345d627aa877f7d60d1bbebe16e3f60152cba56d4a
+size 36117

robots/widowx/widowx_description/meshes_wx250s/WXSA-250-M-9-Gripper-Bar.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7980c24781c496a1f046b07ba132c36ce54630f3be61220c5271e65d70344545
+size 76084

robots/widowx/widowx_description/wx250s.urdf

@@ -0,0 +1,405 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from C:\Users\tola\Anaconda3\envs\urdf_analyzer\Lib\site-packages\rtbdata\xacro\interbotix_descriptions\urdf\wx250s.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="wx250s">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-1-Base.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-1-Base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.0380446000 0.0006138920 0.0193354000"/>
+      <mass value="0.538736"/>
+      <inertia ixx="0.0021150000" ixy="-0.0000163500" ixz="0.0000006998" iyy="0.0006921000" iyz="0.0000464200" izz="0.0025240000"/>
+    </inertial>
+  </link>
+  <joint name="waist" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0 0 0.072"/>
+    <parent link="base_link"/>
+    <child link="shoulder_link"/>
+  </joint>
+  <!-- <transmission name="trans_waist">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="waist">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="waist_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> -->
+  <link name="shoulder_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 -0.003"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-2-Shoulder.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 -0.003"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-2-Shoulder.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0000223482 0.0000414609 0.0066287000"/>
+      <mass value="0.480879"/>
+      <inertia ixx="0.0003790000" ixy="0.0000000022" ixz="-0.0000003561" iyy="0.0005557000" iyz="0.0000012245" izz="0.0005889000"/>
+    </inertial>
+  </link>
+  <joint name="shoulder" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="-1.8849555921538759" upper="1.9896753472735358" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0 0 0.03865"/>
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+  </joint>
+  <!-- <transmission name="trans_shoulder">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="shoulder">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="shoulder_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> -->
+  <link name="upper_arm_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-3-UA.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-3-UA.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0171605000 0.0000002725 0.1913230000"/>
+      <mass value="0.430811"/>
+      <inertia ixx="0.0034630000" ixy="-0.0000000001" ixz="-0.0000000002" iyy="0.0035870000" iyz="0.0004272000" izz="0.0004566000"/>
+    </inertial>
+  </link>
+  <joint name="elbow" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-2.1467549799530254" upper="1.6057029118347832" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0.04975 0 0.25"/>
+    <parent link="upper_arm_link"/>
+    <child link="upper_forearm_link"/>
+  </joint>
+  <!-- <transmission name="trans_elbow">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="elbow">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="elbow_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> -->
+  <link name="upper_forearm_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-4-UF.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-4-UF.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.1079630000 0.0001158760 0"/>
+      <mass value="0.234589"/>
+      <inertia ixx="0.0000397100" ixy="0.0000023528" ixz="0" iyy="0.0008878000" iyz="0" izz="0.0008880000"/>
+    </inertial>
+  </link>
+  <joint name="forearm_roll" type="revolute">
+    <axis xyz="1 0 0"/>
+    <limit effort="2" lower="-3.141582653589793" upper="3.141582653589793" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0.175 0 0"/>
+    <parent link="upper_forearm_link"/>
+    <child link="lower_forearm_link"/>
+  </joint>
+  <!-- <transmission name="trans_forearm_roll">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="forearm_roll">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="forearm_roll_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> -->
+  <link name="lower_forearm_link">
+    <visual>
+      <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-5-LF.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-5-LF.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="3.141592653589793 0 0" xyz="0.0374395000 0.0052225200 0"/>
+      <mass value="0.220991"/>
+      <inertia ixx="0.0000636900" ixy="-0.0000229200" ixz="0" iyy="0.0001677000" iyz="0" izz="0.0001834000"/>
+    </inertial>
+  </link>
+  <joint name="wrist_angle" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="5" lower="-1.7453292519943295" upper="2.1467549799530254" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0.075 0 0"/>
+    <parent link="lower_forearm_link"/>
+    <child link="wrist_link"/>
+  </joint>
+  <!-- <transmission name="trans_wrist_angle">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_angle">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_angle_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> -->
+  <link name="wrist_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-6-Wrist.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-6-Wrist.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0423600000 -0.0000106630 0.0105770000"/>
+      <mass value="0.084957"/>
+      <inertia ixx="0.0000308200" ixy="0.0000000191" ixz="0.0000000023" iyy="0.0000282200" iyz="0.0000025481" izz="0.0000315200"/>
+    </inertial>
+  </link>
+  <joint name="wrist_rotate" type="revolute">
+    <axis xyz="1 0 0"/>
+    <limit effort="1" lower="-3.141582653589793" upper="3.141582653589793" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0.065 0 0"/>
+    <parent link="wrist_link"/>
+    <child link="gripper_link"/>
+  </joint>
+  <!-- <transmission name="trans_wrist_rotate">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="wrist_rotate">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="wrist_rotate_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> -->
+  <link name="gripper_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.02 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-7-Gripper.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.02 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-7-Gripper.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0216310000 0.0000002516 0.0114100000"/>
+      <mass value="0.072885"/>
+      <inertia ixx="0.0000253700" ixy="0.0000000000" ixz="0.0000000000" iyy="0.0000183600" iyz="0.0000004340" izz="0.0000167400"/>
+    </inertial>
+  </link>
+  <joint name="ee_arm" type="fixed">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.043 0 0"/>
+    <parent link="gripper_link"/>
+    <child link="ee_arm_link"/>
+  </joint>
+  <link name="ee_arm_link">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+  </link>
+  <joint name="gripper" type="fixed">
+    <axis xyz="1 0 0"/>
+    <!-- <limit effort="1" velocity="3.141592653589793"/> -->
+    <origin rpy="0 0 0" xyz="0.0055 0 0"/>
+    <parent link="ee_arm_link"/>
+    <child link="gripper_prop_link"/>
+  </joint>
+  <!-- <transmission name="trans_gripper">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="gripper">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="gripper_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> -->
+  <link name="gripper_prop_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.0685 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-8-Gripper-Prop.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.0685 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-8-Gripper-Prop.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0008460000 -0.0000016817 0.0000420000"/>
+      <mass value="0.00434"/>
+      <inertia ixx="0.0000005923" ixy="0.0000000000" ixz="0.0000003195" iyy="0.0000011156" iyz="-0.0000000004" izz="0.0000005743"/>
+    </inertial>
+  </link>
+  <!-- If the default gripper bar is being used, then also add the gripper bar -->
+  <joint name="gripper_bar" type="fixed">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="ee_arm_link"/>
+    <child link="gripper_bar_link"/>
+  </joint>
+  <link name="gripper_bar_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.063 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-9-Gripper-Bar.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.063 0 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-9-Gripper-Bar.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0096870000 0.0000008177 0.0049620000"/>
+      <mass value="0.034199"/>
+      <inertia ixx="0.0000074125" ixy="-0.0000000008" ixz="-0.0000000006" iyy="0.0000284300" iyz="-0.0000013889" izz="0.0000286000"/>
+    </inertial>
+  </link>
+  <joint name="ee_bar" type="fixed">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.023 0 0"/>
+    <parent link="gripper_bar_link"/>
+    <child link="fingers_link"/>
+  </joint>
+  <link name="fingers_link">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+  </link>
+  <!-- If the default gripper fingers are being used, add those as well -->
+  <joint name="left_finger" type="prismatic">
+    <axis xyz="0 1 0"/>
+    <limit effort="5" lower="0.015" upper="0.037" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="fingers_link"/>
+    <child link="left_finger_link"/>
+  </joint>
+  <!-- <transmission name="trans_left_finger">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="left_finger">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="left_finger_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> -->
+  <link name="left_finger_link">
+    <visual>
+      <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0.005 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-10-Finger.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0.005 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-10-Finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="3.141592653589793 3.141592653589793 1.5707963267948966" xyz="0.0138160000 0.0000000000 0.0000000000"/>
+      <mass value="0.016246"/>
+      <inertia ixx="0.0000047310" ixy="-0.0000004560" ixz="0.0000000000" iyy="0.0000015506" iyz="0.0000000000" izz="0.0000037467"/>
+    </inertial>
+  </link>
+  <joint name="right_finger" type="prismatic">
+    <axis xyz="0 -1 0"/>
+    <limit effort="5" lower="0.015" upper="0.037" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="fingers_link"/>
+    <child link="right_finger_link"/>
+    <mimic joint="left_finger" multiplier="1" offset="0"/>
+  </joint>
+  <!-- <transmission name="trans_right_finger">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="right_finger">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="right_finger_motor">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission> -->
+  <link name="right_finger_link">
+    <visual>
+      <origin rpy="0 3.141592653589793 0" xyz="0 -0.005 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-10-Finger.obj" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 3.141592653589793 0" xyz="0 -0.005 0"/>
+      <geometry>
+        <mesh filename="meshes_wx250s/WXSA-250-M-10-Finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 3.141592653589793 1.5707963267948966" xyz="0.0138160000 0.0000000000  0.0000000000"/>
+      <mass value="0.016246"/>
+      <inertia ixx="0.0000047310" ixy="0.0000004560" ixz="0.0000000000" iyy="0.0000015506" iyz="0.0000000000" izz="0.0000037467"/>
+    </inertial>
+  </link>
+  <joint name="ee_gripper" type="fixed">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.027575 0 0"/>
+    <parent link="fingers_link"/>
+    <child link="ee_gripper_link"/>
+  </joint>
+  <link name="ee_gripper_link">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
+    </inertial>
+  </link>
+</robot>