1 100000 100000 100000000.0 1.0 1 100000 100000 100000000.0 1.0 1 100000 100000 100000000.0 1.0 1 100000 100000 100000000.0 1.0 1 100000 100000 100000000.0 1.0 1 100000 100000 100000000.0 1.0 1 100000 100000 100000000.0 1.0 1 100000 100000 100000000.0 1.0 1 100000 100000 100000000.0 1.0 transmission_interface/SimpleTransmission PositionJointInterface 1 PositionJointInterface gripper_finger1_joint gripper_finger2_joint 1.0 0.0 gripper_finger1_joint gripper_finger2_inner_knuckle_joint 1.49462955 0.0 gripper_finger1_joint gripper_finger1_inner_knuckle_joint 1.49462955 0.0 gripper_finger1_joint gripper_finger1_finger_tip_joint 1.49462955 0.0 gripper_finger1_joint gripper_finger2_finger_tip_joint 1.49462955 0.0 gripper_finger1_joint gripper_finger1_finger_joint 0.4563942 0.0 gripper_finger1_joint gripper_finger2_finger_joint 0.4563942 0.0