From 08a299c0f6e7a8443eed34d4a68d377e909addc0 Mon Sep 17 00:00:00 2001
From: Thomason Zhou <reazonresearch@gmail.com>
Date: Mon, 10 Feb 2025 11:16:26 +0900
Subject: [PATCH] Add mimic tag to control left and right gripper equally

---
 openarm_grip_description/urdf/openarm_grip.urdf  | 1 +
 openarm_grip_description/urdf/openarm_grip.xacro | 1 +
 2 files changed, 2 insertions(+)

diff --git a/openarm_grip_description/urdf/openarm_grip.urdf b/openarm_grip_description/urdf/openarm_grip.urdf
index 1bc4a74..a8a3595 100644
--- a/openarm_grip_description/urdf/openarm_grip.urdf
+++ b/openarm_grip_description/urdf/openarm_grip.urdf
@@ -428,5 +428,6 @@
     <child link="right_jaw_1"/>
     <axis xyz="1.0 -0.0 0.0"/>
     <limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/>
+    <mimic joint="slider_left"/>
   </joint>
 </robot>
diff --git a/openarm_grip_description/urdf/openarm_grip.xacro b/openarm_grip_description/urdf/openarm_grip.xacro
index fa576e5..307694c 100644
--- a/openarm_grip_description/urdf/openarm_grip.xacro
+++ b/openarm_grip_description/urdf/openarm_grip.xacro
@@ -291,6 +291,7 @@
   <child link="right_jaw_1"/>
   <axis xyz="1.0 -0.0 0.0"/>
   <limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/>
+  <mimic joint="slider_left"/>
 </joint>
 
 </robot>