Add offset tool0 link to bt30 sander urdf

tesseract-robotics · Apr 30, 2021 · 3b4efa4 · 3b4efa4
1 parent eba7b2f
commit 3b4efa4
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/twc_support/CAD/eoat/bt30_sander/urdf/bt30_sander_macro.xacro b/twc_support/CAD/eoat/bt30_sander/urdf/bt30_sander_macro.xacro
@@ -17,6 +17,7 @@
       </collision>
     </link>
     <link name="${prefix}tool0"/>
+    <link name="${prefix}tool0_offset"/>
     <!-- end of link list -->
 
     <!-- joint list -->
@@ -25,6 +26,12 @@
       <parent link="${prefix}base_link" />
       <child link="${prefix}tool0" />
     </joint>
+
+    <joint name="${prefix}joint_tool0_offset" type="fixed">
+      <origin xyz="0 0 0.05" rpy="0 0 0" />
+      <parent link="${prefix}tool0" />
+      <child link="${prefix}tool0_offset" />
+    </joint>
     <!-- end of joint list -->
   </xacro:macro>
 </robot>