- <joint name="aft_right_wheel_joint" type="fixed">
- <parent link="base_link"/>
- <child link="aft_right_wheel"/>
- <origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
+ <joint name="link_2_3_joint" type="continuous">
+ <parent link="link2"/>
+ <child link="link3"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0.240 0.0 0.0" rpy="0 0 0"/>
+ <limit effort="1000.0" lower="0.0" upper="3.141592653589793" velocity="1.0"/>
+ </joint>
+
+ <joint name="gripper_joint_1" type="continuous">
+ <parent link="link3"/>
+ <child link="gripper_pole1"/>
+ <axis xyz="1 0 0"/>
+ <origin xyz="0 0.135 0.0" rpy="1.57075 0 1.57075"/>
+ <limit effort="1000.0" lower="-0.6981317007977319" upper="7.679448708775051" velocity="1.0"/>
+ </joint>
+
+ <joint name="gripper_joint_2" type="continuous">
+ <parent link="gripper_pole1"/>
+ <child link="gripper_pole2"/>
+ <axis xyz="0 1 0"/>
+ <origin xyz="0.06 0.0 0.0" rpy="0 0 0"/>
+ <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
+ </joint>
+
+ <joint name="left_gripper_joint" type="revolute">
+ <parent link="gripper_pole2"/>
+ <child link="left_gripper"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0.02 0.01 0" rpy="0 0 0" />
+ <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
+ </joint>
+
+ <joint name="right_gripper_joint" type="revolute">
+ <parent link="gripper_pole2"/>
+ <child link="right_gripper"/>
+ <axis xyz="0 0 -1"/>
+ <origin xyz="0.02 -0.01 0" rpy="0 0 0"/>
+ <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>