From b31c885a563ca79e60063221d31473fc077a3c06 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 17 Sep 2018 19:17:14 +0200
Subject: [PATCH] Fix talos_reduced_v2.urdf
* Make fixed the following joints:
* gripper_left_inner_double_joint
* gripper_left_inner_single_joint
* gripper_left_motor_single_joint
* gripper_right_inner_double_joint
* gripper_right_inner_single_joint
* gripper_right_motor_single_joint
---
urdf/talos_reduced_v2.urdf | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/urdf/talos_reduced_v2.urdf b/urdf/talos_reduced_v2.urdf
index 79e6453..1a77db5 100644
--- a/urdf/talos_reduced_v2.urdf
+++ b/urdf/talos_reduced_v2.urdf
@@ -1349,7 +1349,7 @@
</geometry>
</collision>
</link>
- <joint name="gripper_left_inner_double_joint" type="revolute">
+ <joint name="gripper_left_inner_double_joint" type="fixed">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_inner_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
@@ -1433,7 +1433,7 @@
</geometry>
</collision>
</link>
- <joint name="gripper_left_motor_single_joint" type="revolute">
+ <joint name="gripper_left_motor_single_joint" type="fixed">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_motor_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
@@ -1461,7 +1461,7 @@
</geometry>
</collision>
</link>
- <joint name="gripper_left_inner_single_joint" type="revolute">
+ <joint name="gripper_left_inner_single_joint" type="fixed">
<parent link="gripper_left_base_link"/>
<child link="gripper_left_inner_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
@@ -1702,7 +1702,7 @@
</geometry>
</collision>
</link>
- <joint name="gripper_right_inner_double_joint" type="revolute">
+ <joint name="gripper_right_inner_double_joint" type="fixed">
<parent link="gripper_right_base_link"/>
<child link="gripper_right_inner_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
@@ -1786,7 +1786,7 @@
</geometry>
</collision>
</link>
- <joint name="gripper_right_motor_single_joint" type="revolute">
+ <joint name="gripper_right_motor_single_joint" type="fixed">
<parent link="gripper_right_base_link"/>
<child link="gripper_right_motor_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
@@ -1814,7 +1814,7 @@
</geometry>
</collision>
</link>
- <joint name="gripper_right_inner_single_joint" type="revolute">
+ <joint name="gripper_right_inner_single_joint" type="fixed">
<parent link="gripper_right_base_link"/>
<child link="gripper_right_inner_single_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
--
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