Fix xacro

Author: Jepear19

Industrial/ros2_SimRealRobotControl_gz/ros2srrc_endeffectors/robotiq_2f85/urdf/robotiq_2f85_macro.urdf.xacro

@@ -166,8 +166,7 @@
       <child link="robotiq_85_right_knuckle_link"/>
       <axis xyz="0 0 1"/>
       <origin rpy="0 0 0" xyz="0.05490451627 -0.03060114443 0.0"/>
-      <limit lower="-0.05" upper="0.80285" velocity="0.5" effort="1000"/>
-      <dynamics damping="1.0" friction="1.0"/>
+      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="1"/>
     </joint>
 
     <!-- Robotiq: left_finger -->
@@ -252,7 +251,7 @@
       <child link="robotiq_85_left_inner_knuckle_link"/>
       <axis xyz="0 0 1"/>
       <origin xyz="0.06142 0.0127 0" rpy="${pi} 0.0 0.0" />
-      <limit lower="-0.05" upper="0.80285" velocity="0.5" effort="1000"/>
+      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="1"/>
       <dynamics damping="1.0" friction="1.0"/>
     </joint>
 
@@ -282,7 +281,7 @@
       <child link="robotiq_85_right_inner_knuckle_link"/>
       <axis xyz="0 0 1"/>
       <origin xyz="0.06142 -0.0127 0" rpy="0 0 0"/>
-      <limit lower="-0.05" upper="0.80285" velocity="0.5" effort="1000"/>
+      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="1"/>
       <dynamics damping="1.0" friction="1.0"/>
     </joint>
 
@@ -314,7 +313,7 @@
       <child link="robotiq_85_left_finger_tip_link"/>
       <axis xyz="0 0 1"/>
       <origin xyz="0.04303959807 -0.03759940821 0.0" rpy="0.0 0.0 0.0"/>
-      <limit lower="-0.80285" upper="0.05" velocity="0.5" effort="1000"/>
+      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="-1"/>
       <dynamics damping="1.0" friction="1.0"/>
     </joint>
 
@@ -346,7 +345,7 @@
       <child link="robotiq_85_right_finger_tip_link"/>
       <axis xyz="0 0 1"/>
       <origin rpy="0.0 0.0 0.0" xyz="0.04303959807 -0.03759940821  0.0"/>
-      <limit lower="-0.80285" upper="0.05" velocity="0.5" effort="1000"/>
+      <mimic joint="robotiq_85_left_knuckle_joint" multiplier="-1"/>
       <dynamics damping="1.0" friction="1.0"/>
     </joint>