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Fix the slider name from 'slider_left' to 'slider_right'

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When I tried to load the URDF file on MuJoCo, it failed with the
following error message:

    Duplicated slider name "slider_left"

It turned out that the issue was the right slider being wrongly
tagged as 'slider_left' (not 'slider_right'). Fix it thusly.

Signed-off-by: Fujimoto Seiji <fujimoto@ceptord.net>
This commit is contained in:
Fujimoto Seiji 2025-02-09 00:08:54 +00:00
parent c8793e08ae
commit 5809be6d15
2 changed files with 2 additions and 2 deletions
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2
openarm_grip_description/urdf/openarm_grip.urdf
View File

@ -422,7 +422,7 @@
<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"/>
</joint> </joint>
<joint name="slider_left" type="prismatic"> <joint name="slider_right" type="prismatic">
<origin rpy="0 0 0" xyz="0.0775 -0.121655 0.012086"/> <origin rpy="0 0 0" xyz="0.0775 -0.121655 0.012086"/>
<parent link="grip_attach_1"/> <parent link="grip_attach_1"/>
<child link="right_jaw_1"/> <child link="right_jaw_1"/>

2
openarm_grip_description/urdf/openarm_grip.xacro
View File

@ -285,7 +285,7 @@
<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"/>
</joint> </joint>
<joint name="slider_left" type="prismatic"> <joint name="slider_right" type="prismatic">
<origin xyz="0.0775 -0.121655 0.012086" rpy="0 0 0"/> <origin xyz="0.0775 -0.121655 0.012086" rpy="0 0 0"/>
<parent link="grip_attach_1"/> <parent link="grip_attach_1"/>
<child link="right_jaw_1"/> <child link="right_jaw_1"/>