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fix gripper home pose

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This commit is contained in:
Ilya Uraev 2022-02-26 23:32:57 +04:00
parent 4497395032
commit 4eb6b0cd75
2 changed files with 14 additions and 14 deletions
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12
rasmt_moveit_config/config/rasmt.srdf
View file

@ -45,16 +45,16 @@
<joint name="rasmt_Rot_Z_3" value="0.0521"/> <joint name="rasmt_Rot_Z_3" value="0.0521"/>
</group_state> </group_state>
<group_state name="home_hand" group="rasmt_hand_arm_group"> <group_state name="home_hand" group="rasmt_hand_arm_group">
<joint name="rasmt_Slide_1" value="0"/> <joint name="rasmt_Slide_1" value="0.02"/>
<joint name="rasmt_Slide_2" value="0"/> <joint name="rasmt_Slide_2" value="0.02"/>
</group_state> </group_state>
<group_state name="full_open" group="rasmt_hand_arm_group"> <group_state name="full_open" group="rasmt_hand_arm_group">
<joint name="rasmt_Slide_1" value="0.04"/> <joint name="rasmt_Slide_1" value="0.06"/>
<joint name="rasmt_Slide_2" value="0.04"/> <joint name="rasmt_Slide_2" value="0.06"/>
</group_state> </group_state>
<group_state name="full_close" group="rasmt_hand_arm_group"> <group_state name="full_close" group="rasmt_hand_arm_group">
<joint name="rasmt_Slide_1" value="-0.02"/> <joint name="rasmt_Slide_1" value="0.0"/>
<joint name="rasmt_Slide_2" value="-0.02"/> <joint name="rasmt_Slide_2" value="0.0"/>
</group_state> </group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.--> <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<!--end_effector name="rasmt_hand" parent_link="rasmt_Dock_Link" group="rasmt_hand_arm_group" parent_group="rasmt_arm_group"/--> <!--end_effector name="rasmt_hand" parent_link="rasmt_Dock_Link" group="rasmt_hand_arm_group" parent_group="rasmt_arm_group"/-->

16
rasmt_support/urdf/tools/rasmt_hand_macro.xacro
View file

@ -79,7 +79,7 @@
</inertial> </inertial>
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="-0.02 0 0"
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
@ -93,7 +93,7 @@
</visual> </visual>
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="-0.02 0 0"
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
@ -116,8 +116,8 @@
xyz="1 0 0" /> xyz="1 0 0" />
<limit <limit
effort="20" effort="20"
lower="-0.02" lower="0.0"
upper="0.04" upper="0.06"
velocity="0.2"/> velocity="0.2"/>
</joint> </joint>
@ -139,7 +139,7 @@
</inertial> </inertial>
<visual> <visual>
<origin <origin
xyz="0 0 0" xyz="-0.02 0 0"
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
@ -153,7 +153,7 @@
</visual> </visual>
<collision> <collision>
<origin <origin
xyz="0 0 0" xyz="-0.02 0 0"
rpy="0 0 0" /> rpy="0 0 0" />
<geometry> <geometry>
<mesh <mesh
@ -176,8 +176,8 @@
xyz="1 0 0" /> xyz="1 0 0" />
<limit <limit
effort="20" effort="20"
lower="-0.02" lower="0.0"
upper="0.04" upper="0.06"
velocity="0.2"/> velocity="0.2"/>
<!--mimic joint="${prefix}_Slide_1"/--> <!--mimic joint="${prefix}_Slide_1"/-->
</joint> </joint>