diff --git a/CHANGELOG.md b/CHANGELOG.md index f1723150187846044a768f8c333735207620fd9a..3c7654dec17c55715e919a5be786c1f3ff7b59d1 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,9 @@ # CHANGELOG +## 0.4.0 - UNRELEASED + + * Added `mimic` tag for gripper fingers to URDF + ## 0.3.0 - 2018-02-22 Requires `libfranka` >= 0.3.0 diff --git a/franka_description/robots/hand.xacro b/franka_description/robots/hand.xacro index 62e4554ceb8e3f740a22e41b2512a28d87579698..c00ef1afacaf8e47ce30a844edefdf6c1f91a71a 100644 --- a/franka_description/robots/hand.xacro +++ b/franka_description/robots/hand.xacro @@ -51,14 +51,15 @@ <child link="${ns}_leftfinger"/> <origin xyz="0 0 0.0584" rpy="0 0 0"/> <axis xyz="0 1 0"/> - <limit effort="20" lower="-0.001" upper="0.04" velocity="0.3"/> + <limit effort="20" lower="0.0" upper="0.04" velocity="0.3"/> </joint> <joint name="${ns}_finger_joint2" type="prismatic"> <parent link="${ns}_hand"/> <child link="${ns}_rightfinger"/> <origin xyz="0 0 0.0584" rpy="0 0 0"/> <axis xyz="0 -1 0"/> - <limit effort="20" lower="-0.001" upper="0.04" velocity="0.3"/> + <limit effort="20" lower="0.0" upper="0.04" velocity="0.3"/> + <mimic joint="${ns}_finger_joint1" /> </joint> </xacro:macro> </robot>