Fix off-center issue (#49)

Co-authored-by: Ethan K. Gordon <[email protected]>

Author: amalnanavati

ada_description/urdf/forque/forque.xacro

@@ -81,7 +81,9 @@
 	  	<xacro:forque_assembly_link link_name="forkHandle" link_mesh="2024_06_24_forkHandleHollow" mass="0.028" cog="0.011097 -0.162629 -0.011948">
 	  		<inertia ixx="0.00003114" iyy="0.000011867" iyz="0.00000054005" izz="0.000038478" ixy="-0.00000050626" ixz="0.000000082271"/>
 	  	</xacro:forque_assembly_link>
-		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" parent="FTMount" child="forkHandle" joint_origin_xyz="0 0.005 0.0013" joint_origin_rpy="-0.025 0 0"/>
+
+		<!-- The slight rotation was manually added due to empirical deformations in the robot gripped, such that the fingers and fork handle were slightly pitched up relative to the wrist. -->
+		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" parent="FTMount" child="forkHandle" joint_origin_xyz="0 0.005 0.0013" joint_origin_rpy="-0.0375 0 0.0125"/>
 
 		<xacro:forque_assembly_link link_name="forkHandleCover" link_mesh="2024_06_24_forkHandleCover" mass="0.004" cog="0.011157 -0.168451 0.006404">
 	  		<inertia ixx="0.0000027878" iyy="0.00000064518" iyz="0.00000016201" izz="0.000003363634" ixy="0.00000000012805" ixz="0.00000000006585"/>