- <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"/>
+ </joint>
+
+ <joint name="link2_motor_extension_joint" type="fixed">
+ <parent link="link2"/>
+ <child link="link2_motor_extension"/>
+ <origin xyz="0.165 -0.03 0" rpy="1.5708 0 0"/>
+ </joint>
+
+ <joint name="plate_box_joint" type="fixed">
+ <parent link="plate"/>
+ <child link="plate_box"/>
+ <origin xyz="-0.04 -0.035 0" rpy="0 0 0"/>