- <joint name="sonar_forward_lower_join" type="fixed">
- <parent link="base_link"/>
- <child link="sonar_forward_lower"/>
- <origin xyz="0.105 0.0 0.035" rpy="0 -0.1309 0"/>
+ <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"/>
+ </joint>
+
+ <joint name="left_gripper_joint" type="revolute">
+ <parent link="gripper_pole"/>
+ <child link="left_gripper"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0 0.015 0" rpy="0 0 0"/>
+ <limit effort="1.0" lower="0.0" upper="0.35" velocity="0.1"/>