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test scene for pick and place

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This commit is contained in:
Ilya Uraev 2022-03-12 13:29:26 +04:00
parent b4339edc19
commit 91f159e289
18 changed files with 219 additions and 133 deletions
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8
rasmt_support/urdf/tools/rasmt_hand_control.xacro
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@ -17,9 +17,9 @@
</xacro:unless>
<joint name="${prefix}_Slide_1">
<command_interface name="effort">
<command_interface name="position">
<!-- better to use radians as min max first -->
<param name="min">-10</param>
<param name="min">0</param>
<param name="max">10</param>
</command_interface>
<state_interface name="position"/>
@ -30,8 +30,8 @@
<joint name="${prefix}_Slide_2">
<!-- <param name="mimic">${prefix}_Slide_1</param>
<param name="multiplier">1</param> -->
<command_interface name="effort">
<param name="min">-10</param>
<command_interface name="position">
<param name="min">0</param>
<param name="max">10</param>
</command_interface>
<state_interface name="position"/>

2
rasmt_support/urdf/tools/rasmt_hand_macro.xacro
View file

@ -52,7 +52,7 @@
type="fixed">
<origin
xyz="0 0.0 0.12324"
rpy="-3.14159265358979 0 -1.5707963267949" />
rpy="-3.14159265358979 0 0" />
<parent
link="${prefix}_Dock_Link" />
<child