<?xml version="1.0"?>
<robot name="band_gripper">
    <!-- Base link (fixed reference point at origin) -->
    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.001 0.001 0.001"/>
            </geometry>
        </visual>
    </link>

    <!-- Left Top Gripper -->
    <link name="left_top_gripper">
        <inertial>
            <origin xyz="0 0 0"/>
            <mass value="0.2"/>
            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
        </inertial>
        <visual>
            <origin xyz="0 0 0"/>
            <geometry>
                <box size="0.09 0.09 0.09"/>
            </geometry>
            <material name="blue">
                <color rgba="0.3 0.5 0.8 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0"/>
            <geometry>
                <box size="0.09 0.09 0.09"/>
            </geometry>
        </collision>
    </link>

    <joint name="left_top_joint" type="floating">
        <parent link="base_link"/>
        <child link="left_top_gripper"/>
        <origin xyz="0.0 -0.600 0.20" rpy="0 0 0"/>
    </joint>

    <!-- Left Bottom Gripper -->
    <link name="left_bottom_gripper">
        <inertial>
            <origin xyz="0 0 0"/>
            <mass value="0.2"/>
            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
        </inertial>
        <visual>
            <origin xyz="0 0 0"/>
            <geometry>
                <box size="0.09 0.09 0.09"/>
            </geometry>
            <material name="blue">
                <color rgba="0.3 0.5 0.8 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0"/>
            <geometry>
                <box size="0.09 0.09 0.09"/>
            </geometry>
        </collision>
    </link>

    <joint name="left_bottom_joint" type="floating">
        <parent link="base_link"/>
        <child link="left_bottom_gripper"/>
        <origin xyz="0.0 -0.600 -0.20" rpy="0 0 0"/>
    </joint>

    <!-- Right Top Gripper -->
    <link name="right_top_gripper">
        <inertial>
            <origin xyz="0 0 0"/>
            <mass value="0.2"/>
            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
        </inertial>
        <visual>
            <origin xyz="0 0 0"/>
            <geometry>
                <box size="0.09 0.09 0.09"/>
            </geometry>
            <material name="orange">
                <color rgba="0.8 0.5 0.3 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0"/>
            <geometry>
                <box size="0.09 0.09 0.09"/>
            </geometry>
        </collision>
    </link>

    <joint name="right_top_joint" type="floating">
        <parent link="base_link"/>
        <child link="right_top_gripper"/>
        <origin xyz="0.0 0.600 0.20" rpy="0 0 0"/>
    </joint>

    <!-- Right Bottom Gripper -->
    <link name="right_bottom_gripper">
        <inertial>
            <origin xyz="0 0 0"/>
            <mass value="0.2"/>
            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
        </inertial>
        <visual>
            <origin xyz="0 0 0"/>
            <geometry>
                <box size="0.09 0.09 0.09"/>
            </geometry>
            <material name="orange">
                <color rgba="0.8 0.5 0.3 1.0"/>
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0"/>
            <geometry>
                <box size="0.09 0.09 0.09"/>
            </geometry>
        </collision>
    </link>

    <joint name="right_bottom_joint" type="floating">
        <parent link="base_link"/>
        <child link="right_bottom_gripper"/>
        <origin xyz="0.0 0.600 -0.20" rpy="0 0 0"/>
    </joint>

</robot>
