<?xml version="1.0" ?>
<robot name="suction-head.urdf">
  <link name="headLink">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0001"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="head.obj" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="darkgrey">
        <color rgba="0.2 0.2 0.2 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="head.obj" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>

  <joint name="tipJoint" type="fixed">
    <parent link="headLink"/>
    <child link="tipLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.029"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
    <dynamics damping="10.0" friction="0.0"/>
  </joint>

  <link name="tipLink">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0001"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="tip.obj" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="blue">
        <color rgba="0.18039216 0.50588235 0.77254902 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <!-- <geometry>
        <mesh filename="tip.obj" scale="0.001 0.001 0.001"/>
      </geometry> -->
      <geometry>
        <cylinder length="0.028" radius="0.001"/>
      </geometry>
    </collision>
  </link>

  <!-- <link name="asdfLink">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0001"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.028" radius="0.001"/>
      </geometry>
    </visual>
  </link>

  <joint name="asdfoint" type="fixed">
    <parent link="tipLink"/>
    <child link="asdfLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
    <dynamics damping="10.0" friction="0.0"/>
  </joint> -->


</robot>

