Add intermediate modified DH axis in all fingers.

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index bbe84f2..b3d689a 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -149,6 +149,14 @@
     <mimic joint="little_j1" multiplier="1" offset="0" />
   </joint>
 
+ <link name="ring_l0"/>
+
+  <joint name="ring_j0" type="fixed">
+   <parent link="base_link"/>
+   <child link="ring_l0"/>
+   <origin xyz="0.12886 0.003 -0.017716" rpy="0.167747119817 0.034907 0"/>
+  </joint>
+
  <link name="ring_l1">
     <inertial>
       <origin xyz="0.021926 0.00020302 9.349E-08" rpy="0 0 0" />
@@ -250,6 +258,14 @@
     <mimic joint="ring_j1" multiplier="1" offset="0" />
   </joint>
 
+ <link name="middle_l0"/>
+
+  <joint name="middle_j0" type="fixed">
+   <parent link="base_link"/>
+   <child link="middle_l0"/>
+   <origin xyz="0.1285 0.003 0.007" rpy="0.404867477319 0 0"/>
+  </joint>
+
  <link name="middle_l1">
     <inertial>
       <origin xyz="0.021926 0.00020303 9.1214E-08" rpy="0 0 0" />
@@ -351,6 +367,14 @@
     <mimic joint="middle_j1" multiplier="1" offset="0" />
   </joint>
 
+ <link name="index_l0"/>
+
+  <joint name="index_j0" type="fixed">
+   <parent link="base_link"/>
+   <child link="index_l0"/>
+   <origin xyz="0.12828 0 0.030847" rpy="0 -0.017453 0"/>
+  </joint>
+
  <link name="index_l1">
     <inertial>
       <origin xyz="0.021926 0.00020303 8.9303E-08" rpy="0 0 0" />