From 0ac4e3f5daf56e3183605d8d5641a222d3dd583d Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Tue, 16 Apr 2019 16:33:44 +0200
Subject: [PATCH] [icub] Fixed the names of tip links inside SRDF
---
icub_description/srdf/icub.srdf | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/icub_description/srdf/icub.srdf b/icub_description/srdf/icub.srdf
index 49c80f5..e1f5c49 100644
--- a/icub_description/srdf/icub.srdf
+++ b/icub_description/srdf/icub.srdf
@@ -8,7 +8,7 @@
<joint name="l_knee" />
<joint name="l_ankle_pitch" />
<joint name="l_ankle_roll" />
- <chain base_link="chest" tip_link="l_foot_dh_frame_fixed_joint" />
+ <chain base_link="chest" tip_link="l_sole" />
</group>
<group name="r_leg">
<joint name="r_hip_pitch" />
@@ -17,7 +17,7 @@
<joint name="r_knee" />
<joint name="r_ankle_pitch" />
<joint name="r_ankle_roll" />
- <chain base_link="chest" tip_link="r_foot_dh_frame_fixed_joint" />
+ <chain base_link="chest" tip_link="r_sole" />
</group>
<group name="l_arm">
<joint name="l_shoulder_pitch" />
@@ -27,7 +27,7 @@
<joint name="l_wrist_prosup" />
<joint name="l_wrist_pitch" />
<joint name="l_wrist_yaw" />
- <chain base_link="chest" tip_link="l_hand_dh_frame_fixed_joint" />
+ <chain base_link="chest" tip_link="l_hand" />
</group>
<group name="r_arm">
<joint name="r_shoulder_pitch" />
@@ -37,7 +37,7 @@
<joint name="r_wrist_prosup" />
<joint name="r_wrist_pitch" />
<joint name="r_wrist_yaw" />
- <chain base_link="chest" tip_link="r_hand_dh_frame_fixed_joint" />
+ <chain base_link="chest" tip_link="r_hand" />
</group>
<group name="head">
<joint name="neck_pitch" />
--
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