Commit 0ac4e3f5 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[icub] Fixed the names of tip links inside SRDF

parent d29f3c09
......@@ -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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