Bugs/airo 353 (#84)

* fix for AIRO-353: Correct the gripper mesh file names in Niryo URDF

* fix for AIRO-354: Fix the typo for disable_collision elements in the Niryo URDF.

Author: hyounesy

tutorials/pick_and_place/PickAndPlaceProject/Assets/URDF/niryo_one/niryo_one.urdf

@@ -188,7 +188,7 @@
     </collision>
   </link>
 
-<link name="left_gripper">
+<link name="right_gripper">
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
@@ -203,7 +203,7 @@
     </collision>
 
   </link>
-<link name="right_gripper">
+<link name="left_gripper">
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
@@ -220,9 +220,9 @@
   </link>
 
   <!--Disable_Collisions -->
-  <disable_collision joint1="right_gripper" joint2="gripper_base">
+  <disable_collision link1="right_gripper" link2="gripper_base">
   </disable_collision>
-  <disable_collision joint1="left_gripper" joint2="gripper_base">
+  <disable_collision link1="left_gripper" link2="gripper_base">
   </disable_collision>
 
   <!--Joints -->
@@ -290,28 +290,28 @@
     <child link="servo_head"/>
     <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>
-  <joint name="control_rod_right" type="fixed">
+  <joint name="control_rod_left" type="fixed">
     <parent link="servo_head"/>
-    <child link="control_rod_right"/>
+    <child link="control_rod_left"/>
     <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>
-<joint name="control_rod_left" type="fixed">
+<joint name="control_rod_right" type="fixed">
     <parent link="servo_head"/>
-    <child link="control_rod_left"/>
-    <origin rpy="0 3.141 0" xyz="0 0 0"/>
-  </joint>
-  <joint name="gripper_joint_left" type="prismatic">
-    <parent link="control_rod_left"/>
-    <child link="left_gripper"/>
+    <child link="control_rod_right"/>
     <origin rpy="0 3.141 0" xyz="0 0 0"/>
-    <limit effort="1" lower="-2.57436" upper="2.57436" velocity="1.0"/>
   </joint>
-<joint name="gripper_joint_right" type="prismatic">
+  <joint name="gripper_joint_right" type="prismatic">
     <parent link="control_rod_right"/>
     <child link="right_gripper"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <limit effort="1" lower="-2.57436" upper="2.57436" velocity="1.0"/>
+    <origin rpy="0 3.141 0" xyz="0 0 0"/>
+    <limit effort="1" lower="-0.0257436" upper="0.0257436" velocity="1.0"/>
     <mimic joint = "gripper_joint_left" multiplier = "-1"/> 
   </joint>
+<joint name="gripper_joint_left" type="prismatic">
+    <parent link="control_rod_left"/>
+    <child link="left_gripper"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <limit effort="1" lower="-0.0257436" upper="0.0257436" velocity="1.0"/>
+  </joint>
 </robot>