From 4eb6b0cd75a70157024dba4bf0a9d5b9e38f6d3a Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Sat, 26 Feb 2022 23:32:57 +0400
Subject: [PATCH] fix gripper home pose

---
 rasmt_moveit_config/config/rasmt.srdf           | 12 ++++++------
 rasmt_support/urdf/tools/rasmt_hand_macro.xacro | 16 ++++++++--------
 2 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/rasmt_moveit_config/config/rasmt.srdf b/rasmt_moveit_config/config/rasmt.srdf
index 852afe7..bee9ed3 100644
--- a/rasmt_moveit_config/config/rasmt.srdf
+++ b/rasmt_moveit_config/config/rasmt.srdf
@@ -45,16 +45,16 @@
         <joint name="rasmt_Rot_Z_3" value="0.0521"/>
     </group_state>
     <group_state name="home_hand" group="rasmt_hand_arm_group">
-        <joint name="rasmt_Slide_1" value="0"/>
-        <joint name="rasmt_Slide_2" value="0"/>
+        <joint name="rasmt_Slide_1" value="0.02"/>
+        <joint name="rasmt_Slide_2" value="0.02"/>
     </group_state>
     <group_state name="full_open" group="rasmt_hand_arm_group">
-        <joint name="rasmt_Slide_1" value="0.04"/>
-        <joint name="rasmt_Slide_2" value="0.04"/>
+        <joint name="rasmt_Slide_1" value="0.06"/>
+        <joint name="rasmt_Slide_2" value="0.06"/>
     </group_state>
     <group_state name="full_close" group="rasmt_hand_arm_group">
-        <joint name="rasmt_Slide_1" value="-0.02"/>
-        <joint name="rasmt_Slide_2" value="-0.02"/>
+        <joint name="rasmt_Slide_1" value="0.0"/>
+        <joint name="rasmt_Slide_2" value="0.0"/>
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <!--end_effector name="rasmt_hand" parent_link="rasmt_Dock_Link" group="rasmt_hand_arm_group" parent_group="rasmt_arm_group"/-->
diff --git a/rasmt_support/urdf/tools/rasmt_hand_macro.xacro b/rasmt_support/urdf/tools/rasmt_hand_macro.xacro
index 2cedf77..e290c91 100644
--- a/rasmt_support/urdf/tools/rasmt_hand_macro.xacro
+++ b/rasmt_support/urdf/tools/rasmt_hand_macro.xacro
@@ -79,7 +79,7 @@
     </inertial>
     <visual>
       <origin
-        xyz="0 0 0"
+        xyz="-0.02 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -93,7 +93,7 @@
     </visual>
     <collision>
       <origin
-        xyz="0 0 0"
+        xyz="-0.02 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -116,8 +116,8 @@
       xyz="1 0 0" />
     <limit
       effort="20"
-      lower="-0.02"
-      upper="0.04"
+      lower="0.0"
+      upper="0.06"
       velocity="0.2"/>
   </joint>
 
@@ -139,7 +139,7 @@
     </inertial>
     <visual>
       <origin
-        xyz="0 0 0"
+        xyz="-0.02 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -153,7 +153,7 @@
     </visual>
     <collision>
       <origin
-        xyz="0 0 0"
+        xyz="-0.02 0 0"
         rpy="0 0 0" />
       <geometry>
         <mesh
@@ -176,8 +176,8 @@
       xyz="1 0 0" />
     <limit
       effort="20"
-      lower="-0.02"
-      upper="0.04"
+      lower="0.0"
+      upper="0.06"
       velocity="0.2"/>
     <!--mimic joint="${prefix}_Slide_1"/-->
   </joint>