This repository has been archived by the owner on Oct 9, 2019. It is now read-only.
Fix robotiq85 gripper urdf & plugin #20
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Switched the direction of certain joints.
Reduced inner_knuckle to base link joint upper limit.
Switched plugin to act on the inner finger joint instead of the inner_knuckle one.
An goal_angularposition of 0.78 closes the gripper. There's a slight separation between the fingers, might require some fine-tuning.