From acb07541e9f1b305c33496fa1f674697d99fe54b Mon Sep 17 00:00:00 2001
From: mhubii <m.huber_1994@hotmail.de>
Date: Wed, 18 Oct 2023 09:47:13 +0100
Subject: [PATCH] revert tf

---
 lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro | 2 +-
 lbr_description/urdf/med14/med14_description.urdf.xacro   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro b/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro
index c521336e..3d7fa5a1 100644
--- a/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro
+++ b/lbr_description/urdf/iiwa14/iiwa14_description.urdf.xacro
@@ -300,7 +300,7 @@
         <joint name="${robot_name}_joint_ee" type="fixed">
             <parent link="${robot_name}_link_7" />
             <child link="${robot_name}_link_ee" />
-            <origin xyz="0 0 0.045" rpy="0 0 0" />
+            <origin xyz="0 0 0.035" rpy="0 0 0" />
         </joint>
 
         <link name="${robot_name}_link_ee">
diff --git a/lbr_description/urdf/med14/med14_description.urdf.xacro b/lbr_description/urdf/med14/med14_description.urdf.xacro
index 91de528c..7faf4ff5 100644
--- a/lbr_description/urdf/med14/med14_description.urdf.xacro
+++ b/lbr_description/urdf/med14/med14_description.urdf.xacro
@@ -300,7 +300,7 @@
         <joint name="${robot_name}_joint_ee" type="fixed">
             <parent link="${robot_name}_link_7" />
             <child link="${robot_name}_link_ee" />
-            <origin xyz="0 0 0.045" rpy="0 0 0" />
+            <origin xyz="0 0 0.035" rpy="0 0 0" />
         </joint>
 
         <link name="${robot_name}_link_ee">