From d2d685debedf6ba5b031d929628fe2465b94908a Mon Sep 17 00:00:00 2001
From: Sam Pfeiffer <sam.pfeiffer@pal-robotics.com>
Date: Thu, 22 Sep 2016 17:22:44 +0200
Subject: [PATCH] Using new gripper
---
talos_description/robots/talos_full.urdf.xacro | 2 +-
talos_description/urdf/gripper/gripper_v2.urdf.xacro | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/talos_description/robots/talos_full.urdf.xacro b/talos_description/robots/talos_full.urdf.xacro
index 6332859..4890058 100644
--- a/talos_description/robots/talos_full.urdf.xacro
+++ b/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" />
diff --git a/talos_description/urdf/gripper/gripper_v2.urdf.xacro b/talos_description/urdf/gripper/gripper_v2.urdf.xacro
index c315336..e5ade25 100644
--- a/talos_description/urdf/gripper/gripper_v2.urdf.xacro
+++ b/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"
--
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