<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="robotiq_gripper">
    <!-- parameters -->
    <xacro:arg name="use_fake_hardware" default="false" />

    <!-- Import macros -->
    <xacro:include filename="$(find robotiq_2f_description)/urdf/robotiq_2f_140_macro.urdf.xacro" />

    <link name="world" />
    <xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="world" use_fake_hardware="$(arg use_fake_hardware)">
        <origin xyz="0 0 0" rpy="0 0 0" />
    </xacro:robotiq_gripper>
</robot>