Merge pull request #217 from crthilakraj/indigo_dev

Changed the origin of the left and right finger joints to avoid collision
ipa320 · Sep 30, 2019 · ef85829 · ef85829
2 parents 8a1dd70 + 10f1148
commit ef85829
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/schunk_description/urdf/pg70/pg70.urdf.xacro b/schunk_description/urdf/pg70/pg70.urdf.xacro
@@ -66,7 +66,7 @@
 
 
     <joint name="${name}_finger_left_joint" type="prismatic" >
-      <origin xyz="0 0 0.0789" rpy="0 0 0"/>
+      <origin xyz="0 0.0055 0.0789" rpy="0 0 0"/>
       <parent link="${name}_palm_link" />
       <child link="${name}_finger_left_link" />
       <axis xyz="0 1 0" />
@@ -99,7 +99,7 @@
 
 
     <joint name="${name}_finger_right_joint" type="prismatic" >
-      <origin xyz="0 0 0.0789" rpy="-0 0 0"/>
+      <origin xyz="0 -0.0055 0.0789" rpy="-0 0 0"/>
       <parent link="${name}_palm_link" />
       <child link="${name}_finger_right_link" />
       <axis xyz="0 -1 0" />