<robot name="beam">
  <handle name="side0" clearance="0.025">
    <position>  0.675 0 0 0 0 0 1 </position>
    <link name="beam"/>
  </handle>
  <handle name="side1" clearance="0.025">
    <position> -0.675 0 0 1 0 0 0 </position>
    <link name="beam"/>
  </handle>
  <handle name="support" clearance="0.01">
    <position> 0 0 0.015 0.70710678119 0 0.70710678119 0 </position>
    <link name="beam"/>
  </handle>
</robot>
