From 12d33e729a7e45a34197cdf85cd98c90a78c374a Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 9 Nov 2022 10:01:02 +0000
Subject: [PATCH] [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
---
.../urdf/allegro_left_hand.urdf | 16 ++++++++--------
.../urdf/allegro_right_hand.urdf | 19 +++++++++----------
2 files changed, 17 insertions(+), 18 deletions(-)
diff --git a/robots/allegro_hand_description/urdf/allegro_left_hand.urdf b/robots/allegro_hand_description/urdf/allegro_left_hand.urdf
index 4f34e5c..ddcd106 100644
--- a/robots/allegro_hand_description/urdf/allegro_left_hand.urdf
+++ b/robots/allegro_hand_description/urdf/allegro_left_hand.urdf
@@ -6,7 +6,7 @@
<robot name="allegro_hand_left" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--
rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
-roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
-->
<!-- ======================== BASE PARAMS ========================= -->
<!-- ======================== FINGER PARAMS ======================== -->
@@ -361,20 +361,20 @@ and one fixed link will be added for the tip. -->
<!-- THUMB -->
<!--
<xacro:thumb_right
- finger_num= "3"
- offset_origin_x= "-0.0182"
- offset_origin_y= "0.019333"
+ finger_num= "3"
+ offset_origin_x= "-0.0182"
+ offset_origin_y= "0.019333"
offset_origin_z= "-0.045987"
-
-
+
+
finger_angle_r= "0"
- finger_angle_p= "-${95*DEG2RAD}"
+ finger_angle_p= "-${95*DEG2RAD}"
finger_angle_y= "-${90*DEG2RAD}"
/>
-->
<!--
finger_angle_r= "${90*DEG2RAD}"
- finger_angle_p= "-${100*DEG2RAD}"
+ finger_angle_p= "-${100*DEG2RAD}"
finger_angle_y= "${0*DEG2RAD}"
-->
<link name="link_12.0">
diff --git a/robots/allegro_hand_description/urdf/allegro_right_hand.urdf b/robots/allegro_hand_description/urdf/allegro_right_hand.urdf
index d202d83..c5d068d 100644
--- a/robots/allegro_hand_description/urdf/allegro_right_hand.urdf
+++ b/robots/allegro_hand_description/urdf/allegro_right_hand.urdf
@@ -6,7 +6,7 @@
<robot name="allegro_hand_right" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--
rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
-roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
-->
<!-- ======================== BASE PARAMS ========================= -->
<!-- ======================== FINGER PARAMS ======================== -->
@@ -481,15 +481,15 @@ and one fixed link will be added for the tip. -->
<!--0.0267000000000005-->
</joint>
<!--
-<xacro:thumb_left
- finger_num= "3"
- offset_origin_x= "-0.0182"
- offset_origin_y= "-0.019333"
- offset_origin_z= "-0.045987"
-
-
+<xacro:thumb_left
+ finger_num= "3"
+ offset_origin_x= "-0.0182"
+ offset_origin_y= "-0.019333"
+ offset_origin_z= "-0.045987"
+
+
finger_angle_r= "${90*DEG2RAD}"
- finger_angle_p= "-${95*DEG2RAD}"
+ finger_angle_p= "-${95*DEG2RAD}"
finger_angle_y= "${90*DEG2RAD}"
/>
-->
@@ -501,4 +501,3 @@ and one fixed link will be added for the tip. -->
<!-- THREE FINGER MACRO -->
<!-- [[END]] THREE FINGER MACRO -->
</robot>
-
--
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