OpenRAVE manipulator definition

   <Robot name="wubble2" file="wubble2.dae">
       <Manipulator name="left_arm">
           <base>L0_base_link</base>
           <effector>L7_wrist_roll_link</effector>
           <joints>left_finger_joint right_finger_joint</joints>
           <closingdirection>-1 1</closingdirection>
           <direction>1 0 0</direction>
           <translation>0.054 0 0</translation>
        </Manipulator>
    </Robot>