From c35824502341ddecaed17283d70b77fcaa5fca55 Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Wed, 7 Mar 2018 16:37:27 +0100
Subject: [PATCH] Hand URDF: Add mimic tag, adjust joint limits
---
CHANGELOG.md | 4 ++++
franka_description/robots/hand.xacro | 5 +++--
2 files changed, 7 insertions(+), 2 deletions(-)
diff --git a/CHANGELOG.md b/CHANGELOG.md
index f172315..3c7654d 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 62e4554..c00ef1a 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>
--
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