- <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 name="gripper_pole_joint" type="fixed">
+ <parent link="link5"/>
+ <child link="gripper_pole"/>
+ <origin xyz="0 0.02275 0" rpy="1.5708 0 1.5708"/>
+ </joint>
+
+ <joint name="gripper_center_joint" type="fixed">
+ <parent link="gripper_pole"/>
+ <child link="gripper_center"/>
+ <origin xyz="0.08 0 0" rpy="0 0 0"/>