function gripper(T, theta)
warning off all;
d = 0.3;
s30 = sin(pi/6);
c30 = cos(pi/6);
[X, Y, Z] = closedCylinder(T*[0 0 0 1]', T*[ c30*d*cos(theta) s30*d*cos(theta) d*sin(theta) 1]', 0.05);
surfl(X,Y,Z);
[X, Y, Z] = closedCylinder(T*[0 0 0 1]', T*[-c30*d*cos(theta) s30*d*cos(theta) d*sin(theta) 1]', 0.05);
surfl(X,Y,Z);
[X, Y, Z] = closedCylinder(T*[0 0 0 1]', T*[ 0 -d*cos(theta) d*sin(theta) 1]', 0.05);
surfl(X,Y,Z);
beta = (pi/2) - theta;
[X, Y, Z] = closedCylinder(T*[ c30*d*cos(theta) s30*d*cos(theta) d*sin(theta) 1]', T*[c30*d*(cos(theta) - cos(beta)) s30*d*(cos(theta) - cos(beta)) d*(sin(theta) + sin(beta)) 1]', 0.05);
surfl(X,Y,Z);
[X, Y, Z] = closedCylinder(T*[-c30*d*cos(theta) s30*d*cos(theta) d*sin(theta) 1]', T*[-c30*d*(cos(theta) - cos(beta)) s30*d*(cos(theta) - cos(beta)) d*(sin(theta) + sin(beta)) 1]', 0.05);
surfl(X,Y,Z);
[X, Y, Z] = closedCylinder(T*[ 0 -d*cos(theta) d*sin(theta) 1]', T*[ 0 -d*(cos(theta) - cos(beta)) d*(sin(theta) + sin(beta)) 1]', 0.05);
surfl(X,Y,Z);