From 7702ee92783f4056f561a2e19a67b73df8df02ea Mon Sep 17 00:00:00 2001
From: JustaGist <saifksidhik@gmail.com>
Date: Fri, 2 Apr 2021 11:10:27 +0100
Subject: [PATCH] reverting to old dynamics values for robot joints to fix
 joint velocity and torque issue (see issue #5)

---
 robots/panda_arm.xacro | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/robots/panda_arm.xacro b/robots/panda_arm.xacro
index 0fbb93b..b0a0d3b 100644
--- a/robots/panda_arm.xacro
+++ b/robots/panda_arm.xacro
@@ -225,11 +225,11 @@
         <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
       </inertial>
     </link>
-    <joint name="${arm_id}_joint8" type="fixed">
-      <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <joint name="${arm_id}_joint8" type="fixed">      
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
       <parent link="${arm_id}_link7"/>
       <child link="${arm_id}_link8"/>
       <axis xyz="0 0 0"/>
     </joint>
   </xacro:macro>
-</robot>
+</robot>
\ No newline at end of file