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Add mimic tag to control left and right gripper equally

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This commit is contained in:
Thomason Zhou 2025-02-10 11:16:26 +09:00
parent c9c249c6b3
commit 08a299c0f6
2 changed files with 2 additions and 0 deletions
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openarm_grip_description/urdf/openarm_grip.urdf
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@ -428,5 +428,6 @@
<child link="right_jaw_1"/> <child link="right_jaw_1"/>
<axis xyz="1.0 -0.0 0.0"/> <axis xyz="1.0 -0.0 0.0"/>
<limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-0.0455" upper="0.0" velocity="1.0"/>
<mimic joint="slider_left"/>
</joint> </joint>
</robot> </robot>

1
openarm_grip_description/urdf/openarm_grip.xacro
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@ -291,6 +291,7 @@
<child link="right_jaw_1"/> <child link="right_jaw_1"/>
<axis xyz="1.0 -0.0 0.0"/> <axis xyz="1.0 -0.0 0.0"/>
<limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/> <limit upper="0.0" lower="-0.0455" effort="100" velocity="1.0" acceleration="0.5"/>
<mimic joint="slider_left"/>
</joint> </joint>
</robot> </robot>