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Arms.xml
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<!--
<Robot name="Baxter" file="/home/baxter/baxter_ws/src/grasp_selection/openrave/baxter_structure_mount1.dae">
-->
<robot>
<Robot name="Baxter" file="/home/edessale/ros_ws/src/openrave/python/baxterXMLs/baxter_urdf.dae">
</Robot>
<Manipulator name="left_arm">
<base>left_arm_mount</base>
<effector>left_hand</effector>
</Manipulator>
<Manipulator name="right_arm">
<base>right_arm_mount</base>
<effector>right_gripper</effector>
</Manipulator>
<kinbody>
<body name = "handFunnel">
<offsetfrom>right_gripper</offsetfrom>
<Translation>0 0 0.04</Translation>
<Geom type="box">
<extents>0.0 0.0 0.0</extents>
<Translation>0 0 0 </Translation>
</Geom>
</body>
<joint name = "dummy" type="hinge" enable="false">
<body>right_gripper</body>
<body>handFunnel</body>
<limitsdeg>0 0</limitsdeg>
</joint>
</kinbody>
</robot>