Using new gripper

talos_description/robots/talos_full.urdf.xacro

@@ -17,7 +17,7 @@
   <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
   <xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
   <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
-  <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
   <xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
 
   <xacro:talos_torso name="torso" />

talos_description/urdf/gripper/gripper_v2.urdf.xacro

@@ -144,7 +144,7 @@
             </link>
 
 
-            <joint name="fingertip_1_joint" type="revolute">
+            <joint name="${name}_fingertip_1_joint" type="revolute">
               <parent link="${name}_inner_double_link"/>
               <child link="${name}_fingertip_1_link"/>
               <origin xyz="0.03200 0.04589 -0.06553"