Add intermediate modified DH axis in thumb and little fingers.

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index d896cb6..bbe84f2 100644 (file)
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -40,6 +40,14 @@
     <child link="base_link"/>      
   </joint> 
 
+ <link name="little_l0"/>
+
+ <joint name="little_j0" type="fixed">
+   <parent link="base_link"/>
+   <child link="little_l0"/>
+   <origin xyz="0.11977 -0.003 -0.04062" rpy="-0.0737213979639 0.087226 0"/>
+ </joint>
+
  <link name="little_l1">
     <inertial>
       <origin xyz="0.021926 0.00020302 9.6353E-08" rpy="0 0 0" />
@@ -444,6 +452,14 @@
     <mimic joint="index_j1" multiplier="1" offset="0" />
   </joint>
 
+ <link name="thumb_l0"/>
+
+ <joint name="thumb_j0" type="fixed">
+   <parent link="base_link"/>
+   <child link="thumb_l0"/>
+   <origin xyz="0.070929 0 0.043575" rpy="0 0 1.5708"/>
+ </joint>
+
  <link name="thumb_l1">
     <inertial>
       <origin xyz="-3.4976E-16 0.021473 -0.015879"  rpy="0 0 0" />