<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="iai_donbot">

  <xacro:include filename="$(find iai_donbot_description)/robots/iai_donbot.xacro"/>
  <!-- <xacro:include filename="$(find fingertip_description)/urdf/mod2_fingertip.urdf.xacro"/> -->

  <!-- <link name="map"/> -->

  <xacro:iai_donbot odom="True" with_wheels="True" with_boxes="True" />

  <joint name="refills_tool_frame_joint" type="fixed">
    <parent link="gripper_tool_frame"/>
    <child link="refills_tool_frame"/>
    <origin xyz="0 0 0.037" rpy="0.0 0.0 0.0" />
  </joint>

  <link name="refills_tool_frame"/>

  <joint name="refills_finger_joint" type="continuous">
    <parent link="refills_tool_frame"/>
    <child link="refills_finger"/>
    <axis xyz="1 0 0"/>
  </joint>

  <link name="refills_finger"/>

  <joint name="marco_left_finger_joint" type="fixed">
    <parent link="gripper_finger_left_link"/>
    <child link="marco_left_finger_link"/>
    <origin xyz="-0.004 0.0 0.115" rpy="0 0 0" />
  </joint>

  <link name="marco_left_finger_link">
    <visual>
      <geometry>
        <box size="0.008 0.03 0.13"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.008 0.03 0.13"/>
      </geometry>
      <material name="gray"/>
    </collision>
  </link>

  <joint name="marco_right_finger_joint" type="fixed">
    <parent link="gripper_finger_right_link"/>
    <child link="marco_right_finger_link"/>
    <origin xyz="-0.004 0.0 0.115" rpy="0 0 0" />
  </joint>

  <link name="marco_right_finger_link">
    <visual>
      <geometry>
        <box size="0.008 0.03 0.13"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.008 0.03 0.13"/>
      </geometry>
      <material name="gray"/>
    </collision>
  </link>
  <!-- include the xacro file with the fingertip sensor description //
   instantiate one left fingertip pcb and one for the right
   define joints that connect /gripper_finger_left_link to left_fingertip_base
    and connect /gripper_finger_right_link to  right_fingertip_base /-->

  <!-- <xacro:fingertip_board_xacro prefix="left" parent="gripper_finger_left_link"   base_xyz = "-0.009 -0.023 0.12" base_rpy = "${pi/2.0} 0 ${pi/2}"/> -->
  <!-- <xacro:fingertip_board_xacro prefix="right" parent="gripper_finger_right_link"  base_xyz = "-0.009 -0.023 0.12" base_rpy = "${pi/2.0} 0 ${pi/2}"/> -->

</robot>
