<robot
  name="weiss_wsg50">
  <link
    name="gripper_base_link">
    <inertial>
      <origin
        xyz="0.0015766 0.00011805 0.037064"
        rpy="0 0 0" />
      <mass
        value="0.51377" />
      <inertia
        ixx="0.00034807"
        ixy="-2.6717E-06"
        ixz="-2.3096E-05"
        iyy="0.001113"
        iyz="-1.0753E-06"
        izz="0.00097801" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_weiss_wsg50/meshes/gripper_base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.50196 0.50196 0.50196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://iai_weiss_wsg50/meshes/gripper_base_link_simple.STL" />
      </geometry>
    </collision>
  </link>
</robot>
