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Update rev7 joint type for urdf (continuous -> revolute)

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Thomason Zhou 2025-03-05 12:38:01 +09:00
parent 49483aa09c
commit c1016d6657
2 changed files with 4 additions and 2 deletions
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3
openarm_grip_description/urdf/openarm_grip.urdf
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@ -415,11 +415,12 @@
<limit acceleration="0.5" effort="100" lower="-1.570796" upper="1.570796" velocity="1.0"/> <limit acceleration="0.5" effort="100" lower="-1.570796" upper="1.570796" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/> <dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev7" type="continuous"> <joint name="rev7" type="revolute">
<origin rpy="0 0 0" xyz="-0.0355 0.00303 0.01515"/> <origin rpy="0 0 0" xyz="-0.0355 0.00303 0.01515"/>
<parent link="J7_v1_1"/> <parent link="J7_v1_1"/>
<child link="grip_attach_1"/> <child link="grip_attach_1"/>
<axis xyz="0.0 0.196078 0.980588"/> <axis xyz="0.0 0.196078 0.980588"/>
<limit acceleration="0.5" effort="100" lower="-1.5" upper="1.5" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/> <dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="slider_left" type="prismatic"> <joint name="slider_left" type="prismatic">

3
openarm_grip_description/urdf/openarm_grip.xacro
View File

@ -276,11 +276,12 @@
<dynamics damping="1.0" friction="1.0"/> <dynamics damping="1.0" friction="1.0"/>
</joint> </joint>
<joint name="rev7" type="continuous"> <joint name="rev7" type="revolute">
<origin xyz="-0.0355 0.00303 0.01515" rpy="0 0 0"/> <origin xyz="-0.0355 0.00303 0.01515" rpy="0 0 0"/>
<parent link="J7_v1_1"/> <parent link="J7_v1_1"/>
<child link="grip_attach_1"/> <child link="grip_attach_1"/>
<axis xyz="0.0 0.196078 0.980588"/> <axis xyz="0.0 0.196078 0.980588"/>
<limit upper="0.5" lower="-0.5" effort="100" velocity="1.0" acceleration="0.5"/>
<dynamics damping="1.0" friction="1.0"/> <dynamics damping="1.0" friction="1.0"/>
</joint> </joint>