From ff9305831a0c4fed0fe7f3d25f3ec1df14208ca2 Mon Sep 17 00:00:00 2001
From: Konstantinos Chatzilygeroudis <costashatz@gmail.com>
Date: Mon, 2 Jun 2014 22:39:42 +0300
Subject: [PATCH] Small fix in Gazebo..Nao still slides a bit..

---
 nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
index b875e7a..ad8d1e5 100644
--- a/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
+++ b/nao_dcm_common/nao_dcm_description/urdf/nao_dcm_gazebo.xacro
@@ -88,12 +88,13 @@
             <alwaysOn>true</alwaysOn>
         </plugin>
         <!-- Mimic joints through plugin develop by costashatz based on implementation by Goncalo Cabrita -->
-        <!-- <plugin name="mimic_hipyawpitch" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
+        <plugin name="mimic_hipyawpitch" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
             <joint>LHipYawPitch</joint>
             <mimicJoint>RHipYawPitch</mimicJoint>
             <multiplier>1.0</multiplier>
             <offset>0.0</offset>
-        </plugin> -->
+            <sensitiveness>0.1</sensitiveness>
+        </plugin>
 
         <xacro:FingerMimics side="L" num="1"/>
         <xacro:FingerMimics side="L" num="2"/>