asfd

ristofer · Jan 29, 2018 · 0404b9d · 0404b9d
1 parent f41ae52
commit 0404b9d
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/urdf/leg.xacro b/urdf/leg.xacro
@@ -224,7 +224,7 @@
   <joint name="${side}_phalange_joint" type="revolute">
     <parent link="${side}_ankle"/>
     <child link="${side}_phalange"/>
-    <origin xyz="0 0 ${-1*ankle_height}" rpy="0 0 0" />
+    <origin xyz="${-1*ankle_large/2} 0 ${-1*ankle_height}" rpy="0 0 0" />
     <axis xyz="0 1 0" />
     <limit effort="8" velocity="6" lower="${-45*M_PI/180}" upper="0" />
     <!--dynamics damping="${dxl_damping}" friction="${dxl_friction}" /-->

diff --git a/urdf/structure.xacro b/urdf/structure.xacro
@@ -5,7 +5,7 @@
   <xacro:property name="column_height" value="1.25" />
   <xacro:property name="cross_length" value="0.025" />
   <xacro:property name="beam_height" value="7" />
-  <xacro:property name="support_height" value="1.30" />  
+  <xacro:property name="support_height" value="1.26" />  
   <xacro:macro name="structure" params="parent child body_height body_width body_large">
 
     <xacro:joint_transmission joint="slider_to_support"/>