- <origin xyz="0 0.01 0" rpy="0 0 0" />
- <limit effort="1000.0" lower="0.0" upper="0.548" velocity="1.0"/>
+ <origin xyz="0 0.015 0" rpy="0 0 0"/>
+ <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>
+ </joint>
+
+ <joint name="right_gripper_joint" type="revolute">
+ <parent link="gripper_pole"/>
+ <child link="right_gripper"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0 -0.015 0" rpy="3.1416 0 0"/>
+ <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>