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9 <box size="0.06 0.03 0.135"/>
11 <origin xyz="0 0 0.0675"/>
12 <material name="grey">
13 <color rgba="0.5 0.5 0.5 1"/>
21 <box size="0.240 0.06 0.03"/>
23 <origin xyz="0.120 0 0.0" rpy="0 0 0"/>
24 <material name="grey">
25 <color rgba="0.5 0.5 0.5 1"/>
33 <box size="0.06 0.135 0.03"/>
35 <origin xyz="0.0 0.0675 0.0" rpy="0 0 0"/>
36 <material name="grey">
37 <color rgba="0.5 0.5 0.5 1"/>
42 <link name="gripper_pole1">
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47 <origin xyz="0.015 0 0" rpy="0 1.57075 0"/>
48 <material name="black">
49 <color rgba="0 0 0 1"/>
54 <link name="gripper_pole2">
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61 <color rgba="1 0 0 1"/>
66 <link name="left_gripper">
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70 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
75 <link name="right_gripper">
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79 <mesh filename="package://arm_ros_conn/meshes/35978.stl" scale="0.001 0.001 0.001"/>
84 <joint name="base_to_link1" type="continuous">
85 <parent link="base_link"/>
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91 <joint name="link_1_2_joint" type="continuous">
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99 <joint name="link_2_3_joint" type="continuous">
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107 <joint name="gripper_joint_1" type="continuous">
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115 <joint name="gripper_joint_2" type="continuous">
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123 <joint name="left_gripper_joint" type="revolute">
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125 <child link="left_gripper"/>
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128 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>
131 <joint name="right_gripper_joint" type="revolute">
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133 <child link="right_gripper"/>
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136 <limit effort="1000.0" lower="0.0" upper="0.35" velocity="1.0"/>