From 29d66f0d1f6b9428d4de2194cee02478e86ea145 Mon Sep 17 00:00:00 2001
From: Sam Pfeiffer <sam.pfeiffer@pal-robotics.com>
Date: Mon, 26 Sep 2016 18:31:49 +0200
Subject: [PATCH] Removing joint state publication of virtual joints
---
talos_description/urdf/gripper/gripper_v2.urdf.xacro | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/talos_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
index 1ab5ac0..8342e12 100644
--- a/talos_description/urdf/gripper/gripper_v2.urdf.xacro
+++ b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
@@ -308,12 +308,12 @@
<xacro:gripper_transmission name="${name}" reduction="1.0" />
<!-- virtual mimic joints -->
- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
+<!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/>
+ <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
</xacro:macro>
--
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