Fix xacro and srdf

Author: Jepear19

Industrial/robotiq_description/urdf/robotiq_85_gripper.urdf.xacro

@@ -46,7 +46,7 @@
       <axis xyz="0 0 1"/>
       <origin rpy="0.0 0.0 0.0" xyz="0.05490451627 -0.03060114443 0.0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="1000"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint"/>
+      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="1.0"/>
     </joint>
 
     <link name="${prefix}robotiq_85_left_knuckle_link">
@@ -147,7 +147,7 @@
       <axis xyz="0 0 1"/>
       <origin xyz="0.06142 0.0127 0" rpy="${pi} 0.0 0.0" />
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" offset="0"/>
+      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="1.0" offset="0"/>
     </joint>
 
     <joint name="${prefix}robotiq_85_right_inner_knuckle_joint" type="continuous">
@@ -156,7 +156,7 @@
       <axis xyz="0 0 1"/>
       <origin xyz="0.06142 -0.0127 0" rpy="0 0 0"/>
       <limit lower="-3.14" upper="3.14" velocity="100.0" effort="0.1"/>
-      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" offset="0"/>
+      <mimic joint="${prefix}robotiq_85_left_knuckle_joint" multiplier="1.0" offset="0"/>
     </joint>
 
     <link name="${prefix}robotiq_85_left_inner_knuckle_link">

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

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

Industrial/ur5_gripper_moveit_config/srdf/ur5_robotiq.srdf

@@ -55,6 +55,8 @@
   <passive_joint name="robotiq_85_right_inner_knuckle_joint" />
   <passive_joint name="robotiq_85_left_finger_tip_joint" />
   <passive_joint name="robotiq_85_right_finger_tip_joint" />
+  <passive_joint name="robotiq_85_left_finger_joint" />
+  <passive_joint name="robotiq_85_right_finger_joint" />
 
   <!--DISABLE COLLISIONS-->
   <disable_collisions link1="base_link" link2="base_link_inertia" reason="Adjacent"/>