<?xml version="1.0"?>
<sdf version="1.8">
  <model name="gripper">
    <link name="gripper_link">
      <collision name='gripper_link'>
        <geometry>
          <sphere>
            <radius>0.4</radius>
          </sphere>
        </geometry>
      </collision>
    </link>
    <frame name="grasp_frame" attached_to="gripper_link"/>
  </model>
</sdf>

