+ <joint name="gripper_pole_joint" type="fixed">
+ <parent link="link5"/>
+ <child link="gripper_pole"/>
+ </joint>
+
+ <joint name="gripper_center_joint" type="fixed">
+ <parent link="gripper_pole"/>
+ <child link="gripper_center"/>
+ <origin xyz="0.0 0.0 0.1" rpy="0 0 0" />
+ </joint>
+