From: Gabriel Schmitz <gschmitz@ece.ufrgs.br>
Date: Wed, 6 Feb 2019 05:51:08 +0000 (-0200)
Subject: Correção Polegar.
X-Git-Tag: sbai2019submitted~19
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=cf989977720cdbf4ac1477f823f3b53be0e1846c;p=users%2Fgschmitz%2Fmiitzhand.git

Correção Polegar.
---

diff --git a/miitzhand_description/urdf/miitzhand.urdf b/miitzhand_description/urdf/miitzhand.urdf
index e8a822c..12bf1ef 100644
--- a/miitzhand_description/urdf/miitzhand.urdf
+++ b/miitzhand_description/urdf/miitzhand.urdf
@@ -501,11 +501,11 @@
  </link>
      
   <joint name="thumb_j2" type="revolute">      
-    <origin xyz="0 0.03 0" rpy="1.5708 -1.5708 0" />      
+    <origin xyz="0 0.03 0" rpy="-1.5708 0 0" />      
      <parent link="thumb_l1" />      
      <child link="thumb_l2" />      
     <axis xyz="0 0 1" />      
-    <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />      
+    <limit lower="-3.14" upper="-1.57" effort="0.37" velocity="5.61" />      
   </joint>      
   
  <link name="thumb_l3">      
@@ -539,7 +539,7 @@
      <child link="thumb_l3" />      
     <axis xyz="0 0 1" />      
     <limit lower="-1.57" upper="0" effort="0.37" velocity="5.61" />    
-    <mimic joint="thumb_j2" multiplier="1" offset="0" />      
+    <mimic joint="thumb_j2" multiplier="1" offset="1.57" />      
   </joint>    
     
 <transmission name="thumb1_transmission">    
@@ -577,7 +577,7 @@
   	<joint>thumb_j3</joint>    
   	<mimicJoint>thumb_j2</mimicJoint>    
   	<multiplier>1.0</multiplier>    
-  	<offset>0.0</offset>    
+  	<offset>1.57</offset>    
   	<maxEffort>30.0</maxEffort>    
   	<sensitiveness>0.0</sensitiveness>    
   </plugin>