From 544f289b24249e6793e6db507b3cd430a9a33929 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Thu, 23 Mar 2017 15:31:17 -0700
Subject: [PATCH] better pr2_gripper collision model

---
 data/pr2_gripper.urdf | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/data/pr2_gripper.urdf b/data/pr2_gripper.urdf
index 6ca8dc674..7d16d986a 100644
--- a/data/pr2_gripper.urdf
+++ b/data/pr2_gripper.urdf
@@ -71,9 +71,9 @@
     </visual>
     <collision>
       <geometry>
-        <box size=".03 .03 .02"/>
+        <box size=".03 .01 .02"/>
       </geometry>
-      <origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
+      <origin rpy="0.0 0.0 0" xyz="0.105 -0.005 0"/>
     </collision>
     <inertial>
       <mass value="0.1"/>
@@ -130,10 +130,17 @@
     </visual>
     <collision>
       <geometry>
-      	<box size=".03 .03 .02"/>
+      	<box size=".03 .01 .02"/>
       </geometry>
-      <origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
+      <origin rpy="-3.1415 0 0" xyz="0.105 0.015 0"/>
     </collision>
+	<collision>
+      <geometry>
+        <box size=".01 .02 .02"/>
+      </geometry>
+      <origin rpy="-3.1415 0 -0.5" xyz="0.095 0.005 0"/>
+    </collision>
+
     <inertial>
       <mass value="0.1"/>
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>