UR Pen Holder End Effector

This thing is meant to mate to the tool flange of a UR robot and hold a UR branded pen. It is useful for teaching students about changing Tool Center Points (TCPs) within a program, or to demonstrate the path-recording or MoveP functionality on UR robots.

There is a slight 0.5 degree taper on the section that holds the pen. This part can be edited to hold any other pen type.